## 留言板

 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.
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. (in Chinese)

• 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。

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##### 出版历程
• 收稿日期:  2013-10-22
• 刊出日期:  2014-09-20

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