Enhancement the Maneuverability of Tele-Hydraulic System Using Fuzzy Friction Compensator

Watcharin Po-Ngaen; J. Maka

doi:10.4028/www.scientific.net/AMM.752-753.995

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 752-753Enhancement the Maneuverability of Tele-Hydraulic...

Enhancement the Maneuverability of Tele-Hydraulic System Using Fuzzy Friction Compensator

Abstract:

One degree of freedom (DOF) tele-hydraulic manipulation using force reflecting bilateral control will be investigated. The primary objective in the development of a simple one DOF experimental rig was to allow the investigation of different tele-control strategies prior to their implementation on the eight DOF tele-hydraulic excavator system. Because of the friction nonlinearity characteristic in hydraulic system, high steady state error and overshoot have occurred in the position response as a typical imperfect implementation of associated control dynamic. In this situation, there is a necessity to be able to effectively utilizing the intelligent friction compensated controller. This fuzzy compensator combined with fuzzy controller will be implemented to enhance the maneuverability performance. Experiments were carried out and the experimental results illustrated that the above compensated intelligent framework can improve the bilateral performance

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Periodical:

Applied Mechanics and Materials (Volumes 752-753)

Pages:

995-999

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.752-753.995

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Online since:

April 2015

Authors:

Watcharin Po-Ngaen*, J. Maka

Keywords:

Fuzzy Friction Compensator, Maneuverability, Tele-Hydraulic System

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* - Corresponding Author

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