Volume 36 Issue 7
Jul.  2010
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Yao Jianyong, Jiao Zongxia. Friction compensation for hydraulic load simulator based on improved LuGre friction model[J]. Journal of Beijing University of Aeronautics and Astronautics, 2010, 36(7): 812-815. (in Chinese)
Citation: Yao Jianyong, Jiao Zongxia. Friction compensation for hydraulic load simulator based on improved LuGre friction model[J]. Journal of Beijing University of Aeronautics and Astronautics, 2010, 36(7): 812-815. (in Chinese)

Friction compensation for hydraulic load simulator based on improved LuGre friction model

  • Received Date: 11 May 2009
  • Publish Date: 30 Jul 2010
  • In order to acquire better performance and minimize the trace error, the friction mechanism was analyzed. As a novel friction description, LuGre friction model and its parameter had a few limitations, because this model is only the friction description of a fixed position. Synthesized on lots of friction experience and the characteristic of hydraulic fin actuator, a changeable maximum dynamic and static friction model, which is based on LuGre model, was proposed and identified. Using structure invariance principle, a compensator was designed and verified. Experience results show that the control strategy designed by the new friction model not only works well for rejecting torque trace error, but reveals excellent ability against extraneous torque.

     

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  • [1] Jiao Zongxia,Gao Junxia,Hu Qing,et al.The velocity synchronizing control on the electro-hydraulic load simulator [J].Chinese Journal of Aeronautics,2004,17(1):39-46 [2] 王晓东,焦宗夏.负载模拟器中的摩擦力及其补偿控制[J].中国机械工程,2003,14(6):511-513 Wang Xiaodong,Jiao Zongxia.Friction and its compensation method in load simulator[J].China Mechanical Engineering,2003,14(6):511-513 (in Chinese) [3] 王晓东,焦宗夏,谢邵辰.基于LuGre模型的电液加载系统摩擦补偿[J].北京航空航天大学学报,2008, 34(11): 1254-1257 Wang Xiaodong,Jiao Zongxia,Xie Shaochen.LuGre-based compensation for friction in electro-hydraulic loading [J].Journal of Beijing University of Aeronautics and Astronautics,2008,34(11):1254-1257 (in Chinese) [4] Ke Jing,Su Baoku,Zeng Ming.Robust adaptive friction compensation for DC motors with parametric uncertainties [J].Proceeding of the CSEE,2003,23(7):117-122 [5] 刘丽兰,刘宏昭,吴子英,等.机械系统中摩擦模型的研究进展[J].力学进展,2008,38(2):201-213 Liu Lilan,Liu Hongzhao,Wu Ziying,et al.An overview of friction models in mechanical [J].Advances in Mechanics,2008,38(2):201-213 (in Chinese)
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