Open AccessOn stabilizing hydraulic motion experiencing Stribeck friction via PI controller: Circle criterion approach
Author(s) -
Tobias Prawira Tumbuan,
Indrawanto,
Ignatius Pulung Nurprasetio,
Zainal Abidin
Publication year - 2019
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/645/1/012023
Subject(s) - control theory (sociology) , inertia , constant (computer programming) , nonlinear system , controller (irrigation) , limit (mathematics) , integrator , lyapunov function , exponential stability , limit cycle , hydraulic machinery , oscillation (cell signaling) , friction torque , mathematics , computer science , engineering , physics , torque , mechanical engineering , control (management) , classical mechanics , mathematical analysis , artificial intelligence , computer network , bandwidth (computing) , biology , quantum mechanics , agronomy , programming language , genetics , thermodynamics
A Friction is inevitable in a hydraulic actuator due to the presence of seal. Unfortunately, the existence of friction makes the system prone to limit cycle oscillation as PI controller is applied. This research investigates the maximum integrator constant of PI controller that can be introduced to the system while maintaining global asymptotic stability in Lyapunov sense. This condition is achieved as the system complies with circle criterion. In this research, a simplified hydraulic system which behaves linearly is adopted. Thus, the only source of nonlinearity is the Stribeck friction. The main contribution of this research is a formulation of stable PI strategy that is free from the effect of inertia. The PI strategy is suitable for a hydraulic testing machine of which the mass of device under the test is varying.