• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2018, Vol. 54 ›› Issue (20): 131-138.doi: 10.3901/JME.2018.20.131

• 润滑、泄漏与密封 • 上一篇    下一篇

基于LuGre模型的气动位置伺服系统摩擦补偿控制

魏琼1, 焦宗夏2, 王君1, 李书廷1   

  1. 1. 湖北工业大学机械工程学院 武汉 430068;
    2. 北京航空航天大学自动化科学与电气工程学院 北京 100086
  • 收稿日期:2017-11-24 修回日期:2018-03-25 出版日期:2018-10-20 发布日期:2018-10-20
  • 通讯作者: 焦宗夏(通信作者),男,1963年出生,博士,教授,博士研究生导师。主要研究方向为机电一体化设计、仿真与伺服控制。E-mail:zxjiao@buaa.edu.cn
  • 作者简介:魏琼,女,1980年出生,博士研究生。主要研究方向为机电一体化系统及伺服控制。E-mail:18171059226@163.com
  • 基金资助:
    湖北省自然科学基金资助项目(2017CFB128)。

Control of Pneumatic Position Servo with LuGre Model-based Friction Compensation

WEI Qiong1, JIAO Zongxia2, WANG Jun1, LI Shuting1   

  1. 1. School of mechanical engineering, Hubei University of Technology, Wuhan 430068;
    2. School of Automation Science and electrical engineering, Beihang University, Beijing 100086
  • Received:2017-11-24 Revised:2018-03-25 Online:2018-10-20 Published:2018-10-20

摘要: 气动伺服系统的摩擦力/驱动之比较大,摩擦力模型复杂、受影响因素较多且存在一定的不确定性,导致精确建模比较困难;另一方面,摩擦力和气体的低刚度、弱阻尼特性相互作用导致爬行、黏滑振荡现象,严重影响了伺服系统的动态及稳态性能的提升。在综合考虑摩擦力特征、系统自身非线性、未建模动态不确定性及摩擦力和系统性能相互影响的基础上,结合LuGre摩擦模型,采用双观测器估计摩擦力模型中的部分不确定性参数,提出非线性自适应反步摩擦补偿控制方法。通过在低速和高速工况下分别进行试验验证,并与PID控制方法进行比较,结果表明非线性自适应反步摩擦补偿控制方法有效改善了起步阶段的动态滞后现象,减少了低速工况下爬行及高速工况下的黏滑振荡现象,提高系统的响应速度及跟踪精度。

关键词: 黏滑振荡, 爬行, 气动位置伺服, 自适应反步

Abstract: The friction/drive of the pneumatic servo system is relatively large, the friction model is complex, the factors are affected and there is some uncertainty, which makes the accurate modeling difficult. The interaction between the friction force and the low stiffness and the weak damping of the gas leads to the phenomenon of the stick slip oscillation. A nonlinear adaptive backstepping friction compensation control method is proposed considering the friction and the nonlinear and unmodeled dynamic uncertainties of the system. Experimental verification is carried out under low speed and high speed conditions respectively. The friction compensation control method improves the dynamic hysteresis phenomenon in the initial stage, reduces the crawling phenomenon at low speed, the stick slip oscillation phenomenon at high speed, and improves the response speed and tracking accuracy of the system.

Key words: adaptive backstepping, crawl, pneumatic position servo, stick slip oscillation

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