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TECHNICAL PAPERS

Suppression of Micro Stick-Slip Vibrations in Hydraulic Servo-System

[+] Author and Article Information
Toshiyuki Hayase, Satoru Hayashi, Kazunori Kojima, Ikuro Iimura

Institute of Fluid Science, Tohoku University, Sendai, 980-8577, Japan

J. Dyn. Sys., Meas., Control 122(2), 249-256 (Mar 03, 1998) (8 pages) doi:10.1115/1.482450 History: Received March 03, 1998
Copyright © 2000 by ASME
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References

Hayashi, S., and Iimura, I., 1988, “Effect of Coulomb Friction on Stability of Hydraulic Servomechanism,” Proceedings of 2nd International Symposium Fluid Control, Measurement and Flow Visualization, Sheffield, pp. 310–314.
Iimura,  I., Hayashi,  S., and Aizawa,  K., 1996, “Effect of Solid Friction on Global Stability on a Hydraulic Servo System,” Journal of the Japan Hydraulics and Pneumatics Society, 27, No. 2, pp. 299–306.
Armstrong-Helouvry, B., 1991, Control of Machines with Friction, Kluwer Academic Publishers, p. 24.
Hayase, T., Hayashi, S., and Kojima, K., 1996, “Micro Stick-Slip Vibration in Hydraulic Servo Systems,” Proceedings of 3rd JHPS International Symposium on Fluid Power, Araki, K., ed., pp. 555–560.
Slotine, J. E., and Li, W., 1991, Applied Nonlinear Control, Prentice-Hall, p. 207.
Hayase, T., Isozaki, N., and Hayashi, S., 1993, “Piecewise-Linear Modeling of Hydraulic System for State-Feedback Control Strategy,” Proceedings of 2nd JHPS International Symposium on Fluid Power, Maeda, T., ed., E & FN Spon, pp. 533–538.
Meritt, H. E., 1967, Hydraulic Control Systems, Wiley, NY.
Iimura, I., and Hayashi, S., 1994, “A Digital Simulation Algorithm for Hydraulic Systems Subjected to Solid Friction,” Proceedings of 4th Triennial International Symposium on Fluid Control, Measurement and Visualization, Toulouse, pp. 391–396.
Boyd, S. P., and Barratt, C. H., 1991, Linear Controller Design, Prentice Hall, p. 238.

Figures

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Schematic of the hydraulic control system
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Nonlinear characteristics of the hydraulic system (simulation) (a) driving force of the piston with spool stroke (b) magnification of (a) near the underlap region
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Nonlinear control system with feedback linearization
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Simulation result for the linear proportional control (a) total amplitude with feedback gain (b) frequency with feedback gain
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Simulation result for the nonlinear control (a) total amplitude with feedback gain (b) frequency with feedback gain
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Simulation result for the step response of the piston position (Kp=5000 V/m) (a) linear proportional control (b) nonlinear control
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Experimental result for the linear proportional control (a) total amplitude with feedback gain (b) frequency with feedback gain
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Experimental result for the nonlinear control (a) total amplitude with feedback gain (b) frequency with feedback gain
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Experimental result for the step response of the piston position (Kp=5000 V/m) (a) linear proportional control (b) nonlinear control
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Step responses of the piston position with 12-bit and 14-bit D/A converters (Kp=1000 V/m) (a) simulation (b) experiment
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Total amplitude with feedback gain. Comparison between 12-bit and 14-bit D/A converters (a) simulation (b) experiment
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Frequency response of the plant
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Robustness of the servo system
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Construction of the hydraulic servo-system
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Waveform of the self-excited vibration (experiment) (a) Kp=1000 V/m (b) Kp=5000 V/m (c) Kp=8000 V/m

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