基于LuGre摩擦模型补偿的动态电液测力建模与实验研究  

Modeling and experimental research on dynamic electro-hydraulic force measurement based on LuGre friction compensation

作　　者：孙炳玉 吴询 宋孝臣[3] 焦雷浩 赵延治[4] 

机构地区：[1]徐工挖掘机械有限公司,江苏徐州221004 [2]郑州煤矿机械集团股份有限公司,河南郑州450000 [3]北京机床所精密机电有限公司,北京100102 [4]燕山大学机械工程学院,河北秦皇岛066004

出　　处：《制造技术与机床》2016年第4期60-65,共6页Manufacturing Technology & Machine Tool

基　　金：国家自然科学基金(51105322);河北省自然科学基金(E2014203176);河北省高等学校科学技术研究青年基金(QA2015040)

摘　　要：为提高电液测力系统在动态下测量其负载的精度,采用Lu Gre摩擦模型描述动态测力时摩擦力非线性特征,搭建了基于比例阀压力控制的动态电液测力系统,对其在不同油液压力、速度下的摩擦力进行测量,依据实验数据及动、静态参数辨识模型辨识得到动、静态参数,进一步研究油液压力及移动速度对Lu Gre模型中各个参数的影响,得到关于油液压力及移动速度的Lu Gre摩擦模型,之后对油液推力实时补偿,得到基于Lu Gre摩擦模型补偿的动态电液测力精度。实验结果表明,动态电液测力状态下库仑摩擦力、最大静摩擦力及动态参数随油液压力的增大而变大,粘性摩擦系数和Stribeck速度随油液压力的增大而降低;基于Lu Gre摩擦补偿的动态电液测力系统测量精度可达0.45%。To improve the accuracy of electro- hydraulic force measurement in dynamic environment,the nonlinear friction in measurement system is described based on Lu Gre friction model,the electro- hydraulic force measuring system is built based on pressure control of proportioner,the friction in different pressure and speed is measured,further research about the affection of pressure and speed on every parameters in Lu Gre model is analyzed according to the experiment data and dynamic parameter identified through the identification model,and the Lu Gre friction model about pressure and speed is got,then the accuracy of electro- hydraulic force measuring system based on Lu Gre friction model compensation is got. Experimental results show that the Coulomb friction,dynamic parameters and maximum static friction increase as the oil pressure increases,and the Stribeck speed and viscous friction coefficient decrease with the increase of oil pressure; the accuracy reach to 0. 45% in the electro- hydraulic force measurement based on Lu Gre friction compensation.

关 键 词：电液测力 动态 LuGre摩擦模型 测量精度 

分 类 号：TH823[机械工程—仪器科学与技术] U262.321[机械工程—精密仪器及机械]