基于修正黏性摩擦LuGre模型的比例多路阀摩擦补偿

中国机械工程

基于修正黏性摩擦LuGre模型的比例多路阀摩擦补偿

陈东宁1,2;刘一丹1,2;姚成玉3;蒋栋林1,2;王可勋1,2

1．燕山大学河北省重型机械流体动力传输与控制实验室，秦皇岛，066004
2．先进锻压成形技术与科学教育部重点实验室(燕山大学)，秦皇岛，066004
3．燕山大学河北省工业计算机控制工程重点实验室，秦皇岛，066004

出版日期:2017-01-10 发布日期:2017-01-04
基金资助:
国家自然科学基金资助项目(51675460，51405426);
河北省自然科学基金资助项目(E2016203306)

Friction Compensation of Proportional Multiway Valve Based on Modified Viscous Friction LuGre Model

CHEN Dongning1,2;LIU Yidan1,2;YAO Chengyu3;JIANG Donglin1,2;WANG Kexun1,2

1.Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control,Yanshan University, Qinhuangdao, Hebei, 066004
2. Key Laboratory of Advanced Forging & Stamping Technology and Science(Yanshan University),Ministry of Education of China, Qinhuangdao, Hebei, 066004
3. Key Laboratory of Industrial Computer Control Engineering of Hebei Province, Yanshan University,Qinhuangdao, Hebei, 066004

Online:2017-01-10 Published:2017-01-04

摘要/Abstract

摘要： 为减小摩擦对比例多路阀性能的影响，提出基于修正黏性摩擦LuGre模型的比例多路阀摩擦特性分析、模型参数辨识以及摩擦补偿方法。通过实验测试间接得出摩擦数据，运用数据拟合方法辨识出修正黏性摩擦LuGre模型的静态和动态参数。基于辨识参数设计出修正黏性摩擦LuGre模型摩擦状态观测器，将观测器摩擦信号输出量反馈到控制模型输入端，减小摩擦对比例多路阀性能的不良影响。仿真结果表明，基于辨识参数的修正黏性摩擦LuGre模型摩擦补偿方法可提高比例多路阀的位置跟踪精度。

关键词: 比例多路阀, 摩擦补偿, LuGre模型, 黏性摩擦, 参数辨识

Abstract: To decrease the influences of friction on the proportional multiway valves, the methods of friction characteristic analysis, parameter identification and friction compensation of proportional multiway valves were proposed based on modified viscous friction LuGre model. The friction data were indirectly obtained through the experimental tests. The static and dynamic parameters of modified viscous friction LuGre model were identified by data fitting. The friction state observer of modified viscous friction LuGre model was designed by use of the identified parameters, and the output of state observer was fed back to the input port of control model to reduce the adverse effect of friction on the proportional multiway valve performances. Simulation results show that the location tracking accuracy of proportional multiway valves may be improved by using the friction compensation with identification parameter method based on modified viscous friction LuGre model.

Key words: proportional multiway valve, friction compensation, LuGre model, viscous friction, parameter identification

中图分类号:

陈东宁, 刘一丹, 姚成玉, 蒋栋林, 王可勋, . 基于修正黏性摩擦LuGre模型的比例多路阀摩擦补偿[J]. 中国机械工程.

CHEN Dongning, LIU Yidan, YAO Chengyu, JIANG Donglin, WANG Kexun, . Friction Compensation of Proportional Multiway Valve Based on Modified Viscous Friction LuGre Model[J]. China Mechanical Engineering.

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