北京航空航天大学学报 ›› 2008, Vol. 34 ›› Issue (11): 1254-1257.

• 论文 • 上一篇    下一篇

基于LuGre模型的电液加载系统摩擦补偿

王晓东1, 焦宗夏1, 谢劭辰2   

  1. 1. 北京航空航天大学 自动化科学与电气工程学院, 北京 100191;
    2. 北京航空航天大学 无人驾驶飞行器设计研究所, 北京 100191
  • 收稿日期:2007-11-15 出版日期:2008-11-30 发布日期:2010-09-16
  • 作者简介:王晓东(1975-),男,内蒙古赤峰人,讲师,gorton.wang@gmail.com.
  • 基金资助:

    国家自然科学基金资助项目(50075006); 高等学校博士学科点专项科研基金资助项目(20010006016)

LuGre-based compensation for friction in electro-hydraulic loading

Wang Xiaodong1, Jiao Zongxia1, Xie Shaochen2   

  1. 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
  • Received:2007-11-15 Online:2008-11-30 Published:2010-09-16

摘要: 为了提高电液加载系统控制精度,针对摩擦问题提出了基于LuGre摩擦模型的前馈补偿方法.建立了用于摩擦仿真分析和补偿器设计的电液加载系统数学模型;通过实验获取并分析了相关的摩擦数据;基于实验数据进行LuGre模型参数辨识,把LuGre模型和辨识结果引入电液加载系统数学模型,并进行仿真结果与实际摩擦数据的对照,证明了LuGre摩擦模型的准确性.设计前馈补偿器,进行了实验对比,实验结果表明前馈补偿器可将摩擦产生的控制误差有效地降至未补偿时的30%左右.

Abstract: 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.

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