A friction compensator for pneumatic control valves

In English A procedure that compensates for staticfriction (stiction) in pneumatic control valves is presented.The compensation is obtained by adding pulses tothe control signal. The characteristics of the pulses are determinedfrom the control action. The compensator is implemented inindustrial controllers and control systems, and the industrialexperiences show that the procedurereduces the control error during stick-slip motionsignificantly compared to standard control without stiction compensation.