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Friction compensation for hydraulic load simulator based on improved LuGre friction model
Yao Jianyong, Jiao Zongxia*
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

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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.
Keywords�� hydraulic load simulator   improved LuGre friction model   parameter identification     
Received 2009-05-11;
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About author: Ҧ����(1984-),��,ɽ��������,��ʿ��,Jerryyao.buaa@gmail.com.
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Ҧ����, ������.�Ľ���LuGreģ�͵ĸ���ģ����Ħ������[J]  �������պ����ѧѧ��, 2010,V36(7): 812-815
Yao Jianyong, Jiao Zongxia.Friction compensation for hydraulic load simulator based on improved LuGre friction model[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2010,V36(7): 812-815
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