基于LuGre摩擦模型的气缸摩擦力特性实验  

Experiment on friction characteristics of pneumatic cylinders base on LuGre model

作　　者：陈剑锋[1] 刘昊[1] 陶国良[1] 

机构地区：[1]浙江大学流体传动及控制国家重点实验室。浙江杭州310027

出　　处：《兰州理工大学学报》2010年第3期55-59,共5页Journal of Lanzhou University of Technology

基　　金：国家自然科学基金(50805128)

摘　　要：为准确测量气缸的实际摩擦力,建立基于伺服电机速度控制的气缸摩擦力测试台,以一无杆气缸为例对其在不同气压、速度下的摩擦力进行测试分析,提出基于LuGre摩擦模型的各个动态和静态参数辨识和建模方法,并进一步研究供气压力和两腔压差对各个参数的影响.研究结果表明,被测气缸的库仑摩擦力、黏性摩擦系数和最大静摩擦力随着供气压力、两腔差压增大而变大;动态参数则与气压关系不大.A new experimental apparatus was set up on the basis of speed control of servomotor to accurately measure actual friction of pneumatic cylinders.Taking the rodless cylinder as an example,its friction was tested under different working pressures and speeds and analyzed.The identification method of dynamic and steady-state and the modelling method were proposed parameters based on the LuGre model.Also the impact of gas pressure and pressure drop between cylinder chambers on the parameters was further investigated.The result showed that,as the supply pressure or its differential increased,the Coulomb friction,viscous friction coefficient and maximum static friction of the cylinder tested increased and,however,the dynamic parameters were less related to gas pressure.

关 键 词：气缸 摩擦力 LUGRE模型 参数辨识 

分 类 号：TH138[机械工程—机械制造及自动化]