基于LuGre模型的电液加载系统摩擦补偿

王晓东; 焦宗夏; 谢劭辰

基于LuGre模型的电液加载系统摩擦补偿

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

基金项目: 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)

详细信息

作者简介:
王晓东(1975-),男,内蒙古赤峰人,讲师,gorton.wang@gmail.com.

中图分类号: TP 273
计量
- 文章访问数: 5289
- HTML全文浏览量: 188
- PDF下载量: 1291
- 被引次数: 0
出版历程
- 收稿日期: 2007-11-15
- 网络出版日期: 2008-11-30

LuGre-based compensation for friction in electro-hydraulic loading

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

摘要

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.
- 液压 /
- 加载 /
- 模拟器 /
- 摩擦 /
- 补偿 /
- 辨识
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.
- hydraulics /
- loading /
- simulators /
- friction /
- compensation /
- identification

HTML全文

参考文献(1)

[1] 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) [2] Nam Yoonsu, Lee Jinyoung, Hong Sungkyung. Force control system design for aerodynamic load simulator // Ulsoy A G. Proceedings of the American Control Conference. Evanston, USA: American Automatic Control Council, 2000: 3043-3047 [3] 蔡永强,裘丽华,王占林. 力伺服系统的模糊自适应控制[J]. 北京航空航天大学学报,1999,25(1):22-25 Cai Yongqiang, Qiu Lihua, Wang Zhanlin. Adaptive fuzzy control for loading servo system[J]. Journal of Beijing University of Aeronautics and Astronautics, 1999, 25(1):22-25(in Chinese) [4] 王英,熊振华,丁汉.基于状态观测的自适应摩擦力补偿的高精控制[J].自然科学进展, 2005, 19(5):1100-1105 Wang Ying, Xiong Zhenhua, Ding Han. Accurate control with adaptive friction compensation based on state observer[J]. Progress in Natural Science, 2005, 19(5):1100-1105(in Chinese) [5] Zhang Y, Liu G, Goldenberg A A. Friction compensation with estimated velocity // Hamel W R. Proceedings of 2002 IEEE International Conference on Robotics and Automation. San Francisco, USA: IEEE Robotics and Automation Society, 2002: 2650-2655 [6] 张从鹏,刘强.直线电机定位平台的摩擦建模与补偿[J].北京航空航天大学学报,2008,34(1):47-50 Zhang Congpeng, Liu Qiang. Friction modeling and compensation of positioning stage driven by linear motors[J]. Journal of Beijing University of Aeronautics and Astronautics, 2008,34(1):47-50(in Chinese) [7] 吴盛林,刘春芳.基于LuGre模型的电液伺服系统摩擦力矩动态补偿[J].机床与液压,2003(2):67-69 Wu Shenglin, Liu Chunfang. Friction dynamic compensation for electric-hydraulic servo systems based on LuGre friction model[J]. Machine Tool & Hydraulics,2003(2):67-69(in Chinese)

施引文献

资源附件(0)

访问统计