基于LuGre摩擦观测器模型的电液控制步进缸建模及仿真研究  

Study on Modeling and Simulation of Electro-hydraulic Stepping Cylinder Based on LuGre Friction Observer Model

作　　者：张新宇[1,2] 宋锦春[1] 李松[1] 

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳110819 [2]辽宁科技大学机械工程与自动化学院,辽宁鞍山114051

出　　处：《机械与电子》2013年第9期64-66,共3页Machinery & Electronics

基　　金：国家机床重大专项资助项目(2009ZX04001-053)

摘　　要：根据电液控制步进缸的组成结构,建立了系统的状态空间数学模型,针对系统中存在的摩擦非线性特性,建立了基于LuGre模型的摩擦状态观测器,并在Matlab/Simulink环境中进行仿真分析。结果表明,系统具有较好的动态响应特性,但输出曲线上仍有一定的畸变,说明摩擦阻尼特性是容易产生系统不稳定的因素之一。In this paper, according to the struc- ture of electro - hydraulic control step hydraulic cylinder the system state space model is estab- lished. According to the friction nonlinear charac- teristic existing in the system, LuGre model is es- tablished on the basis of friction state observer, and in the Matlab/Simulink environment simula- tion analysis is finished. The results show that the system has a good dynamic response characteris- tics,but there is still a certain distortion on the output curve. It shows that friction damping char- acteristic is one of the factors which results in sys- tem unstability.

关 键 词：电液控制步进缸 状态空间数学模型 摩擦状态观测器 LUGRE模型 

分 类 号：TH137[机械工程—机械制造及自动化]