Mustafa DAĞDELEN, Mehmet İlteriş SARIGEÇİLİ

Development of a Test Apparatus for Estimation of Friction Parameters at Linear Pneumatic Cylinders

Pneumatic cylinders possess non-linear characteristics due to the air-compressibility and stick-slip incylinder barrel. Friction characteristics in pneumatic cylinders is one of the main non-linearity thatnegatively affects the precise control. To be able to use these actuator systems in high level controlapplications, their friction force models should be developed. Hence, unknown friction parameters shouldbe estimated correctly since the friction parameters of pneumatic cylinders are not listed in themanufacturers’ catalogue and these parameters cannot be calculated by only analytical methods. For thatreason, in this study, a test apparatus is designed and experimental procedures are developed for theestimation of the friction parameters of linear pneumatic cylinders as in the form of static friction force,Coulomb friction force, Stribeck velocity and viscous damping coefficient.

Lineer Pnömatik Silindirlerin Sürtünme Parametrelerinin Değerlendirilmesi için Bir Test Düzeneğinin Geliştirilmesi

Pnömatik silindirler havanın sıkışabilirliğinden ve silindir bloğunda meydana gelen yapışma-kayma olaylarından dolayı lineer olmayan özelliklere sahiptirler. Pnömatik silindirlerdeki sürtünme karakteristiği hassas kontrol işlemlerini olumsuz yönde etkileyen lineer olmayan ana özelliktir. Bu tahrik sistemlerini yüksek seviye kontrol uygulamalarında kullanabilmek için, sürtünme kuvveti modellerinin geliştirilmesi gerekir. Pnömatik silindirlerin sürtünme parametreleri üretici kataloglarında belirtilmediğinden ve sadece analitik yollarla saptanamayacakları için bilinmeyen sürtünme parametrelerinin belirlenmesi gerekir. Bu sebepten dolayı, bu çalışmada, bir test düzeneği tasarlanmış ve pnömatik silindirlerin sürtünme parametrelerinin statik sürtünme kuvveti, Coulomb sürtünme kuvveti, Stribeck hızı ve viskoz sönümleme katsayısı formatında tahmin edilmesi için deneysel adımlar geliştirilmiştir.

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