修正黏性摩擦的LuGre模型的摩擦补偿  

Friction Compensation Based on LuGre Model with Modified Viscous Friction

作　　者：谭文斌[1] 李醒飞[1] 向红标[2] 吴腾飞[1] 张晨阳[3] 

机构地区：[1]天津大学精密测试技术及仪器国家重点实验室,天津300072 [2]天津理工大学机械工程学院,天津300384 [3]天津商业大学机械工程学院,天津300131

出　　处：《天津大学学报》2012年第9期824-828,共5页Journal of Tianjin University(Science and Technology)

基　　金：国家自然科学基金资助项目(50975206)

摘　　要：为提高高速条件下开放式伺服系统的动态性能,对传统LuGre摩擦模型的黏性摩擦进行了修正,并提出一种以修正模型为基础的摩擦前馈补偿方案.根据速度较高时,摩擦力矩随速度增加其增长趋势减缓的现象,建立了LuGre修正模型;分别对传统模型和修正模型进行参数辨识,利用2种辨识后的模型分别进行摩擦前馈补偿,分析其补偿效果.实验结果表明:修正模型对系统摩擦力矩的最大估计误差为0.0017N.m,优于传统模型的0.023N.m;与基于传统模型的摩擦补偿相比,基于修正模型的摩擦补偿时,系统稳态误差得到进一步的控制,加速运动时由±9μm降低到±5μm,正弦运动时由±12.5μm降低到±8μm.采用该补偿方案可有效地抑制摩擦干扰对伺服系统的不利影响,提高伺服系统的跟踪性能.In order to promote the dynamic performance of open servo system in high speed state,the viscous friction of conventional LuGre friction model was modified,and a friction feedforward compensation scheme was proposed based on the modified model.Firstly,the modified LuGre model was established according to the phenomenon in which the growth trend of friction moment slowed down along with the raising speed in high speed state.Secondly,the parameters of conventional and modified model were identified.Finally,the friction feedforward compensation was carried out by utilizing the two identified models respectively,and the compensation result was analyzed.The result shows that the modified model is better than conventional model whose maximal estimation error of friction moment is 0.023N.m,while the error of modified model is 0.0017N.m.The steady state error gets further controlled through compensation based on modified model compared to the conventional friction compensation.It reduces from ±9μm to±5μm of accelerated motion.As to the error of sinusoidal motion,it reduces from ± 12.5μm to ±8μm.The proposed compensation scheme can effectively inhibit the disadvantageous influence of friction interference on servo system,and improves tracking performance of servo system.

关 键 词：LUGRE模型 黏性摩擦修正 摩擦前馈补偿 

分 类 号：TH117.1[机械工程—机械设计及理论]