The compensation for nonlinear friction of DDVC flange-type rotary vane steering gear

This study reports on the direct drive volume control flange-type rotary vane steering gear (DDVC-FRVSG), a promising component with superior advantages of compact structure, powerful vibration absorption, and simple control for application in the controlling course and posture of a vessel. The abil...

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Bibliographic Details
Published in:PloS one 2018-11, Vol.13 (11), p.e0207018-e0207018
Main Authors: Liang, Lihua, Wang, Luyang, Wang, Jingfu
Format: Article
Language:English
Subjects:
Automation
Biology and Life Sciences
Compensation
Computer and Information Sciences
Control theory
Design
Efficiency
Engineering
Engineering and Technology
Friction
Hydraulics
Identification
Load
Mathematical analysis
Mathematical models
Methods
Parameter estimation
Physical Sciences
Posture
Process controls
Proportional integral derivative
Prototype tests
Robust control
Steering
Transfer functions
Vibration
Vibration control
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Summary:This study reports on the direct drive volume control flange-type rotary vane steering gear (DDVC-FRVSG), a promising component with superior advantages of compact structure, powerful vibration absorption, and simple control for application in the controlling course and posture of a vessel. The ability of the DDVC-FRVSG to satisfy the accuracy requirement of the vessel is limited by nonlinear friction. This study proposes two compensation methods to compensate for the nonlinear friction. We establish the mathematical model and the transfer function of the steering gear system and the mathematical model of nonlinear friction on the DDVC-FRVSG system based on the principle of the DDVC-FRVSG. A high-gain proportional-integral-derivative control strategy and another method using the self-adaption robust control strategy is proposed and studied both theoretically and experimentally to suppress the nonlinear friction. With the "no-compensation state" as a benchmark, our measured results by prototype testing has proved that both methods can compensate for the nonlinear friction, with the second method showing a better performance of up to 78.85% increase compared to that of the 41.65% shown by the first one. The outcome of this research will contribute to the rapidity and stability of the DDVC-FRVSG.
ISSN:1932-6203
1932-6203
DOI:10.1371/journal.pone.0207018