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Friction compensation of an actively restrained clutch for path tracking
journal contribution
posted on 2009-08-12, 16:01 authored by Lucian M. Lacraru, Kaddour Bouazza-MaroufFriction 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.
History
School
- Mechanical, Electrical and Manufacturing Engineering
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. 381-393Publisher
Professional Engineering Publishing / © IMECHEVersion
- VoR (Version of Record)
Publication date
2006Notes
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/10.1243/09596518JSCE186ISSN
0959-6518Language
- en