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中空液壓馬達系統(tǒng)建模與摩擦動態(tài)補償算法研究
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國家自然科學(xué)基金資助項目（51275288）和上海市科研資助項目（12YZ010、12JC1404100、11CH-05）


Modeling and Friction Dynamic Compensation for Ultra-large-diametered Hollow Hydraulic Motor Servo System
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    摘要:

    針對閥控中空液壓擺動馬達系統(tǒng)，建立數(shù)學(xué)模型；基于LuGre動態(tài)摩擦模型，設(shè)計摩擦狀態(tài)觀測器；在此基礎(chǔ)上，通過提出帶狀態(tài)觀測的滑模變結(jié)構(gòu)控制算法進行大摩擦力矩動態(tài)補償控制，并進行了試驗研究。結(jié)果表明：所設(shè)計的摩擦狀態(tài)觀測器可以較好地估計摩擦力矩，基于狀態(tài)觀測的滑模變結(jié)構(gòu)控制算法可以實現(xiàn)大摩擦力矩下的高精度軌跡跟蹤，相比無狀態(tài)觀測的滑?？刂?，軌跡跟蹤精度提高1個數(shù)量級以上。

    Abstract:

    The hollow hydraulic motor is a key assembly unit for inner frame driving of multi-axis huge inertia motion flight simulator. However the large friction caused by its special structure seriously influences the tracking performance and positioning precision of the servo system especially at very low velocity. A mathematical model of the valve-based hollow hydraulic motor servo system was established. The friction state observer was proposed based on the LuGre dynamic friction model. On this basis, the sliding mode variable structure control algorithm with friction state observer was developed to compensate the friction torque, and the experiment was carried out. The result shows that the proposed state observer can estimate the friction torque correctly, and compared to that without observer, the sliding mode controller with observer can get more precise trajectory tracking. 

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苗中華,李振華,王旭永,劉成良,王小華.中空液壓馬達系統(tǒng)建模與摩擦動態(tài)補償算法研究[J].農(nóng)業(yè)機械學(xué)報,2013,44(12):314-320. Miao Zhonghua, Li Zhenhua, Wang Xuyong, Liu Chengliang, Wang Xiaohua. Modeling and Friction Dynamic Compensation for Ultra-large-diametered Hollow Hydraulic Motor Servo System[J]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(12):314-320.

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  • 在線發(fā)布日期: 2013-12-05
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