基于LuGre模型的大型模锻装备低速摩擦补偿分析  

Analysis on low-velocity friction compensation of large forging equipment based on Lu Gre-model

作　　者：李文坚[1] 李毅波[1] 潘晴[1] 

机构地区：[1]中南大学高性能复杂制造国家重点实验室,湖南长沙410083

出　　处：《锻压技术》2015年第1期71-75,共5页Forging & Stamping Technology

基　　金：国家973项目"超高强锻件多向成形的流线演变数字化表征与力-位移协同控制"(2011CB706802)

摘　　要：由于非线性摩擦力的存在,大型模锻装备在低速运行时易出现速度不稳定、抖动、甚至爬行,致使其加工性能变差。通过对大型模锻装备低速部分进行建模并仿真分析,表明非线性摩擦力是影响大型模锻装备低速稳定性的主要因素。分别采用传统PID控制和基于Lu Gre摩擦模型建立的摩擦观测器加PID控制进行摩擦补偿,并在Matlab Simulink中进行仿真,仿真结果表明,大型模锻装备低速系统采用PID调节加摩擦补偿比单纯采用PID控制时系统的速度稳态误差降低了50%,其低速性能得到明显的改善,系统的快速性、稳定性获得明显的提高。Because of nonlinear friction, large forging equipment in low speed is likely to undergo speed fluctuation, jitter, and even creeping phenomenon resulting in poor process performance. By setting up model and numerical simulation, the main factor influences on low speed stability of the large forging equipment is nonlinear friction. The friction compensate was carried out by traditional PID control method and PID control method combined with LuGre-fiction-model based friction observer respectively, and was simulated by Matlab Simulink. The results show that the steady error of speed deduces by 50% using the latter control method in the large forging equipment, which improves low-speed performance, efficiency and stability of the system remarkably.

关 键 词：大型模锻装备 低速稳定性 摩擦观测器 MATLAB SIMULINK 

分 类 号：TG315[金属学及工艺—金属压力加工]