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Morten Ottestad,Nicolai Nilsen,Michael Rygaard Hansen 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
This paper is concerned with friction in hydraulic cylinders and it’s influence on the performance of hydralically actuated system. A method for the elimination of stiction in hydraulic cylinders is presented and experimentally verified. The method utilizes the rotational degree of freedom between the piston and the cylinder to add relative velocity at the contact surfaces between piston and cylinder when the main axial motion is zero. For modeling purposes an augmentation of the Stribeck friction force equation is introduced that reflects the influence of the added motion. The possible impact of stiction elimination on the performance of heave compensation equipment is discussed and examplified via time domain simulations.