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Title: Friction compensation of an actively restrained clutch for path tracking
Authors: Lacraru, L.M.
Bouazza-Marouf, Kaddour
Keywords: Dry friction
Stick-slip
Friction compensations
Sliding-mode control
Electromechanical clutch
Path tracking
Issue Date: 2006
Publisher: Professional Engineering Publishing / © IMECHE
Citation: LACRARU, L.M. and BOUAZZA-MAROUF, K., 2006. Friction compensation of an actively restrained clutch for path tracking. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 220(5), pp. 381-393
Abstract: Friction compensation of an electromechanical friction clutch mechanism capable of restraining motion so that various predefined paths can be followed is investigated in this paper. The clutch mechanism is driven by an external source of energy, and a computer-controlled system is used to produce frictional resistance so that a desired motion can be achieved. Unknown stick-slip within the clutch is a critical characteristic of the system, which has to be overcome. Three different controllers are investigated in order to avoid stick-slip at low motion rates. A proportional-derivative controller, a sliding-mode controller, and a computed-torque controller, have been implemented and their performances compared using simulation and experimental analyses. The results demonstrate the effectiveness of the sliding-mode controller and the potential of a computed-torque controller for the motion control in a system with dry friction at low velocities.
Description: This is an article from the journal, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering [© IMechE ]. It is also available at: http://dx.doi.org/10.1243/09596518JSCE186
Version: Published
DOI: 10.1243/09596518JSCE186
URI: https://dspace.lboro.ac.uk/2134/5140
ISSN: 0959-6518
Appears in Collections:Published Articles (Mechanical and Manufacturing Engineering)

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