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Appl. Sci. 2018, 8(9), 1623; https://doi.org/10.3390/app8091623

Evolutionary Algorithm-Based Friction Feedforward Compensation for a Pneumatic Rotary Actuator Servo System

School of Mechanical and Power Engineering, Henan Polytechnic University, Jiaozuo 454000, China
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Received: 22 August 2018 / Revised: 3 September 2018 / Accepted: 7 September 2018 / Published: 12 September 2018
(This article belongs to the Section Mechanical Engineering)
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Abstract

The friction interference in the pneumatic rotary actuator is the primary factor affecting the position accuracy of a pneumatic rotary actuator servo system. The paper proposes an evolutionary algorithm-based friction-forward compensation control architecture for improving position accuracy. Firstly, the basic equations of the valve-controlled actuator are derived and linearized in the middle position, and the transfer function of the system is further obtained. Then, the evolutionary algorithm-based friction feedforward compensation control architecture is structured, including that the evolutionary algorithm is used to optimize the controller coefficients and identify the friction parameters. Finally, the contrast experiments of four control strategies (the traditional PD control, the PD control with friction feedforward compensation without evolutionary algorithm tuning, the PD control with friction feedforward compensation based on the differential evolution algorithm, and the PD control with friction feedforward compensation based on the genetic algorithm) are carried out on the experimental platform. The experimental results reveal that the evolutionary algorithm-based friction feedforward compensation greatly improves the position tracking accuracy and positioning accuracy, and that the differential evolution-based case achieves better accuracy. Also, the system with the friction feedforward compensation still maintains high accuracy and strong stability in the case of load. View Full-Text
Keywords: pneumatic rotary actuator; position accuracy; friction feedforward compensation; differential evolution algorithm; genetic algorithm pneumatic rotary actuator; position accuracy; friction feedforward compensation; differential evolution algorithm; genetic algorithm
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
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Li, K.; Zhang, Y.; Wei, S.; Yue, H. Evolutionary Algorithm-Based Friction Feedforward Compensation for a Pneumatic Rotary Actuator Servo System. Appl. Sci. 2018, 8, 1623.

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