LuGre-based compensation for friction in electro-hydraulic loading
Wang Xiaodong1, Jiao Zongxia1, Xie Shaochen2*
1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
2. Research Institute of Unmanned Aerial Vehicle, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
In order to improve the control accuracy of electro-hydraulic loading system, the feed forward compensation method based on LuGre dynamic friction model was proposed to solve the friction problem. The mathematical model of electro-hydraulic loading system was built for friction simulation and compensator design purpose. The friction data acquired by experiments was analyzed,based on which the parameters of LuGre friction model were identified. The identified results, together with the LuGre model, were introduced into the mathematical model of electro-hydraulic loading system. The friction data in simulation result was compared with the actual one to verify the precision of LuGre friction model. The feed forward compensator was designed and the comparison experiments were performed. The experimental results show that this compensator can suppressed the control error caused by friction to as 30% as that without compensation.