留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

电液负载模拟器摩擦参数辨识及补偿

郭彦青 付永领 张朋 陈娟

郭彦青, 付永领, 张朋, 等 . 电液负载模拟器摩擦参数辨识及补偿[J]. 北京航空航天大学学报, 2014, 40(9): 1256-1262. doi: 10.13700/j.bh.1001-5965.2013.0604
引用本文: 郭彦青, 付永领, 张朋, 等 . 电液负载模拟器摩擦参数辨识及补偿[J]. 北京航空航天大学学报, 2014, 40(9): 1256-1262. doi: 10.13700/j.bh.1001-5965.2013.0604
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)

电液负载模拟器摩擦参数辨识及补偿

doi: 10.13700/j.bh.1001-5965.2013.0604
基金项目: 航空科学基金资助项目(2012ZD51055);中央高校基本科研业务费专项资金资助项目(YWF-13-T-RSC-100)
详细信息
    作者简介:

    郭彦青(1980-),男,山西长治人,博士生,sxczgyq@qq.com.

  • 中图分类号: TP273

Friction parameter identification and compensation for electro-hydraulic load simulator

  • 摘要: 针对摩擦干扰在电液负载模拟器控制中的影响,提出了将被试件简化为自由伸缩刚性杆的摩擦力作用模型。模型中采用能全面反应摩擦特性的LuGre模型描述摩擦力大小。LuGre的静力摩擦系数和动力摩擦系数依托两种特殊工作状态进行辨识,相应的辨识数据验证了所求系数的准确性。摩擦补偿具体实施时,利用结构不变性原理,求解出摩擦补偿控制器。在此基础上,对负载模拟器开展了位移伺服、力矩伺服、多余力等方面的摩擦力补偿实验。实验结果表明,所求解的LuGre模型及摩擦补偿控制器可以较好地消除摩擦力对负载模拟器控制的影响。

     

  • [1] 尚耀星,吴帅,焦宗夏,等.基于极限性能要求的电液负载模拟器多刚度与非线性复合数学模型[J].航空学报,2009,30(7):1331-1340 Shang Yaoxing,Wu Shuai,Jiao Zongxia,et al.Complex mathematical model of electro-hydraulic load simulator including multi-stiffness and nonlinear factors in ultimate performance research[J].Acta Aeronautica et Astronautica Sinica,2009,30(7):1331-1340(in Chinese)
    [2] 张彪.电液负载模拟器多余力矩抑制及其反步自适应控制研究[D].哈尔滨:哈尔滨工业大学,2009 Zhang Biao.Extra torque rejection and adaptive backstepping control of electro hydraulic load simulator[D].Harbin:Harbin Institute of Technology,2009(in Chinese)
    [3] 华清,焦宗夏,王晓东,等.电液负载模拟器的精确数学模型[J].机械工程学报,2002,38(11):31-35 Hua Qing,Jiao Zongxia,Wang Xiaodong,et al.Complex mathematical model of electro-hydraulic torque load simulator[J].Chinese Journal of Mechanical Engineering,2002,38(11):31-35(in Chinese)
    [4] 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[J].北京航空航天大学学报,2008,34(11):1254-1257 Wang Xiaodong,Jiao Zongxia,Xie Shaochen.LuGre-based compensation for friction in electro-hydraulic loading[J].Journal of Beijing University of Aeronautics and Astronautics,2008,34(11):1254- 1257( in Chinese)
    [5] 姚建勇,焦宗夏.改进型LuGre模型的负载模拟器摩擦补偿[J].北京航空航天大学学报,2010,36(7):812-820 Yao Jianyong,Jiao Zongxia.Friction compensation for hydraulic load simulator based on improved LuGre friction model[J].Journal of Beijing University of Aeronautics and Astronautics,2010,36(7):812-815(in Chinese)
    [6] 高俊霞,华清,焦宗夏.电液加载系统中的多余力及各种补偿方法的比较[J].液压气动与密封,2003(5):1-6 Gao Junxia,Hua Qing,Jiao Zongxia.Comparison of various compensation methods about surplus torque in electro-hydraulic loading system[J].Hycl Pneum & Seals,2003(5):1-6 (in Chinese)
    [7] 刘丽兰,刘宏昭,吴子英,等.机械系统中摩擦模型的研究进展[J].力学进展,2008,38(2):201-213 Liu Lilan,Liu Hongzhao,Wu Ziying,et al.An overview of friction models in mechanical[J].Advances in Mechanics,2008,38(2):201-213(in Chinese)
    [8] 向红标,裘祖荣,李型飞,等.精密实验平台的非线性摩擦建模与补偿[J].光学精密工程,2010,18(5):1119-1127 Xiang Hongbiao,Qiu Zurong,Li Xingfei,et al.Nonlinear friction modeling and compensation of high-precision experimental platforms[J].Opt Precision Eng,2010,18(5):1119-1127(in Chinese)
    [9] 孙洪鑫,王修勇,陈政清.基于改进遗传算法的LuGre模型参数辨识[J].武汉理工大学学报,2009,31(23):113-117 Sun Hongxin,Wang Xiuyong,Chen Zhengqing.Parameter identification of LuGre model with improved genetic algorithms[J].Journal of Wuhan University of Technology,2009,31(23):113-117(in Chinese)
    [10] 刘柏希.基于改进链码法的LuGre摩擦模型动态参数辨识[J].计算力学学报,2012,29(2):278-282 Liu Baixi.Parameters identification for LuGre friction model based on modified chain code recognition method[J].Chinese Journal of Computational Mechanics,2012,29(2):278-282(in Chinese)
    [11] Shang Y X,Jao Z X,Wang X D,et al.Study on friction torque loading with an electro-hydraulic load simulator[J].Chinese Journal of Aeronautics,2009,22(6):691-699
    [12] 孙萌,李长春,延皓,等.多自由度伺服机构负载模拟系统动态特性研究[J].兵工学报,2013,34(3):378-384 Sun Meng,Li Changchun,Yan Hao,et al.Study on dynamic performance of multiple-DOF servo mechanism’s load simulator system[J].Journal of China Ordnance,2013,34(3):378-384(in Chinese)
    [13] 杨波,王俊奎.无人机舵面负载模拟系统的小脑模型控制[J].北京航空航天大学学报,2009,35(11):1361-1365 Yang Bo,Wang Junkui.CMAC neural network for the rudder dynam ic load smiulator of unmanned aerial vehicles[J].Journal of Beijing University of Aeronautics and Astronautics,2009,35(11):1361-1365(in Chinese)
    [14] 杨波,程龙.提高电动加载系统输出平滑的CMAC复合控制[J].北京航空航天大学学报,2013,39(6):723-727 Yang Bo,Cheng Long.Improving the output smoothing of the electric loading system based on the CMAC+PD compound control strategy[J].Beijing University of Aeronautics and Astronautics,2013,39(6):723-727(in Chinese)
    [15] 牛国臣,王巍,魏志强,等.基于力矩前馈和舵机角度补偿的力矩控制[J].北京航空航天大学学报,2013,39(3):300-304 Niu Guochen,Wang Wei,Wei Zhiqiang,et al.Torque control based on torque feedforward and rudder angle compensation[J].Beijing University of Aeronautics and Astronautics,2013,39(3):300-304(in Chinese)
    [16] 汪成文,焦宗夏,罗才瑾.基于改进的速度同步控制的电液负载模拟器[J].航空学报,2012,33(9):1717-1725 Wang Chengwen,Jiao Zongxia,Luo Caijin.An improved velocity synchronization control on electro-hydraulic load simulator[J].Acta Aeronautica et Astronautica Sinica,2012,33(9):1717-1725(in Chinese)

  • 加载中
计量
  • 文章访问数:  712
  • HTML全文浏览量:  0
  • PDF下载量:  637
  • 被引次数: 0
出版历程
  • 收稿日期:  2013-10-22
  • 刊出日期:  2014-09-20

目录

    /

    返回文章
    返回
    常见问答