北京航空航天大学学报 ›› 2010, Vol. 36 ›› Issue (7): 812-815.

• 论文 • 上一篇    下一篇

改进型LuGre模型的负载模拟器摩擦补偿

姚建勇, 焦宗夏   

  1. 北京航空航天大学 自动化科学与电气工程学院, 北京 100191
  • 收稿日期:2009-05-11 出版日期:2010-07-30 发布日期:2010-09-10
  • 作者简介:姚建勇(1984-),男,山东定陶人,博士生,Jerryyao.buaa@gmail.com.
  • 基金资助:

    国家杰出青年科学基金资助项目(50825502)

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

Yao Jianyong, Jiao Zongxia   

  1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2009-05-11 Online:2010-07-30 Published:2010-09-10

摘要: 分析了摩擦对电液负载模拟器跟踪性能的影响,针对传统基于LuGre模型固定参数补偿方法,综合大量摩擦实验及叶片式液压马达摩擦特性,提出了最大动静摩擦力矩可变的改进型LuGre摩擦模型,并进行了参数辨识,在此基础上根据结构不变原理,分析设计了前馈补偿器.实验结果表明:基于改进型LuGre摩擦模型的前馈补偿器有效抑制了摩擦对加载性能的影响,提高了力矩跟踪精度及消除多余力水平,也验证了改进型LuGre摩擦模型的有效性.

Abstract: 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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