ESTIMATION OF THE FRICTION PARAMETERS OF LINEAR PNEUMATIC CYLINDERS

Öz

Nowadays, pneumatic actuation systems are utilized in many applications due to their outstanding advantages. However, the pneumatics possess nonlinear characteristics that complicate precise motion control. To extend the use of pneumatic actuators to different precise applications their non-linearity should be evaluated and compensated. This is only possible by correctly estimating the non-linear parameters that exist in pneumatic systems. The friction forces in pneumatic cylinders is one of the main nonlinear parameters. These parameters cannot be defined directly or listed precisely for any produced particular cylinder in manufacturer’s catalog. They should be estimated accurately by experimental methods. This paper presents a new, simple and cheap experimental method for identification of friction force parameters for standard linear double acting pneumatic cylinders. Two different pneumatic cylinders have been examined with the proposed method and it has been seen that the results sound promising to use in later control applications.

Anahtar Kelimeler

• Pneumatic Cylinder,Friction Force,Experimental Method

DOĞRUSAL PNÖMATİK SİLİNDİRLERİN SÜRTÜNME PARAMETRELERİNİN TAHMİNİ

Öz

Günümüzde pnömatik aktüatör sistemleri öne çıkan avantajlarından dolayı birçok uygulamada tercih edilmektedirler. Fakat bu sistemler hassas hareket kontrolünü zorlaştıran lineer olmayan karakteristikler barındırırlar. Pnömatik aktüatörlerin kullanımlarını farklı hassas uygulamalara da genişletebilmek için, doğrusal olmayan özelliklerinin belirlenip telafi edilmesi gerekir. Bunun tek yolu pnömatik sistemlerde mevcut olan doğrusal olmayan parametrelerin doğru bir şekilde tahmin edilmesidir. Pnömatik silindirlerdeki sürtünme kuvvetleri esas doğrusal olmayan parametrelerdir. Bu parametreler direkt olarak belirlenemezler ve üretici kataloglarında üretilen herhangi bir belirli silindir için hassas bir şekilde belirtilmezler. Bu parametrelerin deneysel yollarla hassas bir şekilde belirlenmesi gerekmektedir. Bu çalışma, standart, düz çift etkili pnömatik silindirlerin sürtünme kuvveti parametrelerinin saptanması için yeni, basit ve ucuz bir deneysel yöntem sunmaktadır. Önerilen yöntemle iki farklı pnömatik silindir incelenmiş ve sonuçların daha sonraki kontrol uygulamalarında kullanılması umut verici olduğu görülmüştür.

Anahtar Kelimeler

• Pnömatik Silindir,Sürtünme Kuvveti,Deneysel Yöntem

Kaynakça

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