Friction identification and compensation of a linear pneumatic actuator for a lower body exoskeleton
Program Director UROP
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- Project Offer-Number:
- UROP International
- Control Engineering Science
- Organisation unit:
- Philips Chair for Medical Information Technology (MedIT)
- Language Skills:
- English, German is a plus
- Computer Skills:
Pneumatic actuators are commonly used in industrial applications because of their advantages like low maintenance, low cost, high power density, etc. However, the system inherent friction effects between contract surfaces and actuator seals are known to reduce position accuracy in control applications. A detailed knowledge of pneumatic cylinder friction effects is therefore important for the choice of an actuator. Based on friction knowledge, compensation routines can be introduced to a feedback controller to get a higher degree of actuating precision.
The goal of this research project is to develop friction test and identification routines and a friction feedback compensation. The research work consists of: - Develop experimental test conduction and identification software in Matlab. - Use pneumatic actuator control and data collection via the dSpace MicroAutobox and an existing test bench. - Save Results in friction velocity maps. - Develop a friction compensator for an existing feedback controller.
- Profound knowledge of Matlab/Simulink - System dynamics - Identification