Parameters Identification and Analysis of Pneumatic Cylinders Friction Model Based on Experiments

Although LuGre Model is considered as a nice friction model that can describe the friction phenomenon of pneumatic cylinders comprehensively, its parameters are hard to be defined in the real cases. In this paper, a new experimental bench, on which the moving of pneumatic cylinder is driven by a servo motor accurately, is developed to study the friction characteristics of the cylinders. Based on this bench, a method of how to identify parameters of the LuGre Model is proposed, using a single-rod cylinder as examples. Meanwhile the influences on the parameters that arise from running conditions such as working pressure and differntial pressure are discussed. As simulation results agree with the ones obtained from experiments well, the model and the parameters identification method are proved to be effective in actual processes.