Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Experimental characterization of the nonlinear characteristics of friction in pneumatic actuators
Submission Author:
Roger Felix , SP , Brazil
Co-Authors:
Roger Felix, Marcos Silveira
Presenter: Roger Felix
doi://10.26678/ABCM.COBEM2017.COB17-0477
Abstract
This paper presents an experimental procedure for determination of the nonlinear characteristics of internal friction of pneumatic actuators. Pneumatic actuators are a clean technology compared to hydraulic actuators, have good relationship between power and supported mass, and low cost compared to electric actuators. They also have nonlinear characteristics which influence the control, and in order to get the positioning accuracy it is necessary a good characterization of internal friction. This paper consists of the investigation of parameter sensibility of LuGre friction model using an experimental rig with a low cost controller, and finally to perform experimental tests with automatic identification of friction in pneumatic actuators, with graphical display of static and dynamic parameters. The force of friction in relation to model parameters is calculated in real time, enabling the visualization of behaviour of the pneumatic actuator.
Keywords
experimental characterization of friction, low cost controller, pneumatic actuator
