TY - JOUR
T1 - Friction parameter identification and compensation for electro-hydraulic load simulator
AU - Guo, Yanqing
AU - Fu, Yongling
AU - Zhang, Peng
AU - Chen, Juan
PY - 2014/9/1
Y1 - 2014/9/1
N2 - Due to the interference of friction while controlling the electro-hydraulic load simulator, a new model with the consideration of friction was presented. In this model, the test sample was simplified as retractable rigid rods and LuGre model was used to describe the friction. The friction coefficients of LuGre model could be identified based on two specific working conditions and the accuracy of coefficients can be verified by virtue of the corresponding identification data. In order to validate the feasibility of proposed model, the friction compensation controller was deduced on the basic of structural invariance principle. Then a large number of experiments including displacement servo, torque servo, redundant force et al, were carried out. Experimental results show the friction acting on load simulator can be eliminated with the employment of LuGre model and friction compensation controller.
AB - Due to the interference of friction while controlling the electro-hydraulic load simulator, a new model with the consideration of friction was presented. In this model, the test sample was simplified as retractable rigid rods and LuGre model was used to describe the friction. The friction coefficients of LuGre model could be identified based on two specific working conditions and the accuracy of coefficients can be verified by virtue of the corresponding identification data. In order to validate the feasibility of proposed model, the friction compensation controller was deduced on the basic of structural invariance principle. Then a large number of experiments including displacement servo, torque servo, redundant force et al, were carried out. Experimental results show the friction acting on load simulator can be eliminated with the employment of LuGre model and friction compensation controller.
KW - Electro-hydraulic load simulator
KW - Friction compensation
KW - Friction parameter identification
KW - LuGre model
KW - Structure unchangeable principle
UR - https://www.scopus.com/pages/publications/84908074370
U2 - 10.13700/j.bh.1001-5965.2013.0604
DO - 10.13700/j.bh.1001-5965.2013.0604
M3 - 文章
AN - SCOPUS:84908074370
SN - 1001-5965
VL - 40
SP - 1256
EP - 1262
JO - Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics
JF - Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics
IS - 9
ER -