| 基于LuGre模型的电液伺服马达摩擦力矩补偿 |
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| 引用本文： | 崔晓;董彦良;赵克定.基于LuGre模型的电液伺服马达摩擦力矩补偿[J].华南理工大学学报(自然科学版),2009,37(11). |
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| 作者姓名： | 崔晓;董彦良;赵克定 |
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| 作者单位： | 哈尔滨工业大学,机电工程学院,黑龙江,哈尔滨,150001 |
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| 基金项目： | 国家"985"计划项目，国防科技预研重点资助项目 |
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| 摘 要： | 针对大体积飞行器仿真试验时的重力偏载情况，设计并制造了一种仿真转台用中空式电液伺服马达。对影响其超低速跟踪性能的摩擦力矩进行了分析，建立了大摩擦力矩条件下的中空马达数学模型。设计了一种基于LuGre模型的自适应摩擦力矩补偿控制器。为验证该控制器的有效性，进行了不同输入下的数值仿真及试验研究。结果表明与传统的PID控制相比，基于LuGre模型的自适应摩擦力矩补偿控制能够更好地实现马达的低速性能。
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| 关 键 词： | 中空式电液伺服马达 摩擦补偿 LuGre模型 仿真转台 低速特性 |
| 收稿时间： | 2008-11-6 |
| 修稿时间： | 2009-3-5 |
Adaptive Friction Compensation based on LuGre Model to Hollow Hydraulic Servo-motor |
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| Abstract: | A hollow hydraulic servo-motor is designed and manufactured to avoid center of gravity departure when large volume load is installed in flight simulator. The friction characteristic in the hollow hydraulic servo-motor system is analyzed. The dynamic model of the hollow hydraulic servo-motor was proposed with LuGre friction contained. An adaptive controller with friction compensation is deduced to overcome the friction torque. Simulation and experiment are carried out to verify its effect. Results show that compared with classical PID controller the adaptive controller with friction compensation has better low speed performance. |
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| Keywords: | hollow electro-hydraulic servomotor friction compensation LuGre model simulation turntable low-speed characteristic |
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