Adaptive friction compensation for large diameter electro-hydraulic proportional valve cores based on LuGre  

作　　者：孔祥东 Song Yu Ai Chao Li Yanpeng Tian Dezhi 

机构地区：[1]Key Laboratory of Advanced Forging & Stamping Technology and Science(Yanshan University),Ministry of Education of China [2]Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control,Yanshan University [3]School of Mechanical Engineering,Yanshan University

出　　处：《High Technology Letters》2015年第4期371-378,共8页高技术通讯（英文版）

基　　金：Supported by the National Key Basic Research Program of China(No.2014CB046405);Key Projects in the National Science&Technology Pillar Program during the Twelfth Five-year Plan of China(No.2014BAF02B00,2011BAF09B04)

摘　　要：This paper presents an adaptive friction compensation method based on LuGre model for large diameter electric-hydraulic proportional valves in which the valve core contains friction.A mathematic model of the electric-hydraulic proportional valve is established,and the friction characteristics are described based on the LuGre model.The global asymptotic stability of the control system with the adaptive friction compensation controller is guaranteed over Lyapunov theorem.The adaptive compensation of the friction on LuGre friction model is verified by simulation and experiment.The steady-state error is about [-4.23 × 10^(-5)m,5.91 × 10^(-5)m]and[-2.5 × 10^(-4)m,2.6 ×10^(-4) m] on simulation and experiment,the position tracking accuracy is higher,and the lag time of the main valve through the dead zone is shorter.The result proves that the adaptive friction compensation method can effectively compensate for the negative effects of nonlinear friction.This paper presents an adaptive friction compensation method based on LuGre model for large diameter electric-hydraulic proportional valves in which the valve core contains friction. A math- ematic model of the electric-hydraulic proportional valve is established, and the friction characteris- tics are described based on the LuGre model. The global asymptotic stability of the control system with the adaptive friction compensation controller is guaranteed over Lyapunov theorem. The adap- tive compensation of the friction on LuGre friction model is verified by simulation and experiment. The steady-state error is about [-4.23 × 10^-5m, 5.91× 10^-5m] and [ -2.5 × 10^-4m, 2.6 × 10^-4m] on simulation and experiment, the position tracking accuracy is higher, and the lag time of the main valve through the dead zone is shorter. The result proves that the adaptive friction compen- sation method can effectively compensate for the negative effects of nonlinear friction.

关 键 词：electric-hydraulic proportional valve pilot stage LuGre adaptive friction com- pensation experimental identification 

分 类 号：TH137.52[机械工程—机械制造及自动化]