Friction characteristics of a new type of continuous rotary electro-hydraulic servomotor applied to simulator  

作　　者：曹健 许宏光 

机构地区：[1]School of Mechanical and Electrical Engineering,Harbin Institute of Technology

出　　处：《Journal of Harbin Institute of Technology(New Series)》2008年第1期86-89,共4页哈尔滨工业大学学报（英文版）

摘　　要：The principle of a new type of no-pulsation continuous rotary electro-hydraulic servomotor applied to simulators is introduced. LuGre friction model was analyzed. The identification method of LuGre parameters was proposed, and the measures to compensate the effect of friction forces were given. A friction torque model for the new rotary motor was proposed. The low-speed response and step response of the motor were studied experimentally. Experimental results proved that using friction compensation could eliminate stick-slip motion at the low speed, which makes the servomotor applicable to simulators.The principle of a new type of no-pulsation continuous rotary electro-hydraulic servomotor applied to simulators is introduced. LuGre friction model was analyzed. The identification method of LuGre parameters was proposed, and the measures to compensate the effect of friction forces were given. A friction torque model for the new rotary motor was proposed. The low-speed response and step response of the motor were studied experimentally. Experimental results proved that using friction compensation could eliminate stick-slip motion at the low speed, which makes the servomotor applicable to simulators.

关 键 词：electro-hydraulic servomotor frictional model frictional compensation experimental investigating 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]