PARAMETERS IDENTIFICATION OF FRICTION MODEL IN A HYDRAULIC CYLINDER
This thesis is about to find the parameters of friction model in a hydraulic cylinder. Friction is always arisen in a mechanical systems and has the influence on efficiency and the motion (or control performance). A steady - state friction force versus velocity is called the Stribeck curve has be...
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| Format: | Theses |
| Language: | Indonesia |
| Online Access: | https://digilib.itb.ac.id/gdl/view/41733 |
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| Institution: | Institut Teknologi Bandung |
| Language: | Indonesia |
| Summary: | This thesis is about to find the parameters of friction model in a hydraulic cylinder.
Friction is always arisen in a mechanical systems and has the influence on efficiency
and the motion (or control performance). A steady - state friction force versus
velocity is called the Stribeck curve has been proposed in Helouvry (1991) and
Helouvry (1994) has been used widely in many fields to predict or analyze the
characteristics of steady-state friction of the mechanical systems. However, the
steady -state friction models are not enough or useless to predict the motion of
a mechanical system especially for the cases that the mechanical system repeats
start/stop or inching motion.
So far, there are several friction models have been developed such as static model,
Dahl's Model, Bliman - Sarine Model, Generalized Maxwell-slip Model LuGre
Model. Among these models, Lugre Model is widely used, because it captures
many aspects of friction like stiction, stick slip, stribeck, zero slip displacement,
however this model cannot simulate the real hysteretic characteristics of hydraulic
actuators.
A method to modify Lugre Model in order to overcome the defect of Lugre Model
which is, taking the dynamic of lubricant film formation into consideration. The
friction force of the hydraulic cylinder is measured base on the equation of motion
using the measured value of cylinder chambers and the acceleration of the hydraulic
piston. Measured friction characteristics are compared to simulated ones by the
Modified Lugre Model. This model was proposed in BoTran (2012), there a twelve
parameters in modified lugre model, those parameters identification was proposed
in YANADA et al. (2008), however there is still another method to identify those
parameters, therefore, in this thesis is about to find a method to identify the parameters |
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