期刊
CONTROL ENGINEERING PRACTICE
卷 125, 期 -, 页码 -出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2022.105213
关键词
Electrohydraulic system; Force tracking; LuGre model; Friction compensation
资金
- Natural Science Foundation for Distinguished Young Scholars of Jiangsu Province [BK20200029]
- Fundamental Research Funds for the Central Universities [2021YCPY0202]
- National Natural Science Foundation of China [52005497, 52175068, U1810124, 52105288, 51805532]
This paper proposes a modified LuGre model and an adaptive friction compensation control scheme to address the complex friction behaviors and improve the force tracking performance of controllers in electrohydraulic systems with low load. The effectiveness of the proposed controller is verified through comparative experiments in static and dynamic loading modes.
The force tracking performance of controllers is seriously degraded by the complex friction behaviors when the electrohydraulic system applies low load. The existing LuGre model is employed in the motion control system with the known trajectory. In this work, a modified LuGre model combined with a zero-velocity crossing window is established to address the lag issue and model oscillation in force control system. Then, the Stribeck curve in the friction model is accurately obtained using a fast measurement method, and the impact of friction parameters on the accuracy of the LuGre model is analyzed. Next, an adaptive friction compensation control scheme is proposed for the electrohydraulic system with low load using the modified LuGre model to compensate for dynamic friction behavior and improve the force tracking performance. The uncertain friction parameters are tuned online to reduce the force error of the low-velocity region via the derived adaptive law and a dual-observer. The disturbance observer is effectively integrated to reduce the negative influence of unconsidered dynamics. Finally, comparative experiments are conducted to verify the effectiveness of the proposed controller in static and dynamic loading modes.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据