0

Full Content is available to subscribers

Subscribe/Learn More  >

Fractional Order Coulomb Friction Compensation: Convergence Analysis and Experimental Validation on a Fractional Horsepower Dynamometer

[+] Author Affiliations
Sara Dadras, Hadi Malek

Utah State University, Logan, UT

YangQuan Chen

University of California, Merced, Merced, CA

Paper No. DETC2013-12749, pp. V004T08A023; 8 pages
doi:10.1115/DETC2013-12749
From:
  • ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 18th Design for Manufacturing and the Life Cycle Conference; 2013 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications
  • Portland, Oregon, USA, August 4–7, 2013
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5591-1
  • Copyright © 2013 by ASME

abstract

A new fractional order adaptive scheme is proposed for the Coulomb friction compensation in a servo control system. This adaptive compensator is designed such that it can estimate the unknown Coulomb friction coefficient; therefore, the zero convergence of the error system will be guaranteed. The design procedure of the proposed control scheme is very simple and its application is easy. Also, the friction in the servo control system is compensated by a good tracking performance. The comparison shows that the fractional order compensator has less tracking error and better response. A fractional horsepower dynamometer was developed as a general purpose hardware-in-the-loop real-time simulation platform to emulate Coulomb friction as a mechanical nonlinearity. The simulation and experimental results demonstrate that the proposed controller has a satisfactory performance and diminishes friction characteristics.

Copyright © 2013 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In