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Nonlinear friction is the main factor in the electro-hydraulic servo force control system. It causes steady-state and tracking errors that are difficult to eliminate during static and dynamic loading. In recent years, many studies have been done to reduce or eliminate the influence of the friction in the control system. This article discusses an electro-hydraulic servo force control system to complete simulation experiments in the laboratory. According to friction theory, the effect of friction near the zero-velocity point that appeared twice within a cycle during the test would be very obvious, which distorts the waveform and decreases the control accuracy. Due to the special purpose of the electro-hydraulic servo force control system, a practical friction compensation method has been introduced in this article. The friction static friction model, dynamic friction model, and identification methods are discussed in detail. The experimental results show that this practical friction compensation method can significantly reduce the influence of the nonlinear friction and improve control accuracy in the high-precision electro-hydraulic servo force control system.
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Sang et al. (2013) studied this question.
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