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Volume 40 Issue 9
Sep.  2014
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Journal of Beijing University of Aeronautics and Astronautics  > 2014  >  40(9): 1256-1262.
Guo Yanqing, Fu Yongling, Zhang Peng, et al. Friction parameter identification and compensation for electro-hydraulic load simulator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(9): 1256-1262. doi: 10.13700/j.bh.1001-5965.2013.0604(in Chinese)
Citation: Guo Yanqing, Fu Yongling, Zhang Peng, et al. Friction parameter identification and compensation for electro-hydraulic load simulator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(9): 1256-1262. doi: 10.13700/j.bh.1001-5965.2013.0604(in Chinese)
shu

Friction parameter identification and compensation for electro-hydraulic load simulator

doi: 10.13700/j.bh.1001-5965.2013.0604

  • School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

  • Received Date: 22 Oct 2013
  • Publish Date: 20 Sep 2014
    Abstract
  • Due to the interference of friction while controlling the electro-hydraulic load simulator, a new model with the consideration of friction was presented. In this model, the test sample was simplified as retractable rigid rods and LuGre model was used to describe the friction. The friction coefficients of LuGre model could be identified based on two specific working conditions and the accuracy of coefficients can be verified by virtue of the corresponding identification data. In order to validate the feasibility of proposed model, the friction compensation controller was deduced on the basic of structural invariance principle. Then a large number of experiments including displacement servo, torque servo, redundant force et al, were carried out. Experimental results show the friction acting on load simulator can be eliminated with the employment of LuGre model and friction compensation controller.

     

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