基于Lugre模型的直线电机摩擦参数辨识和补偿  

Friction Identification and Compensation Based on the Lugre Model

作　　者：赵金生[1] 张帆[1] 刘品宽[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《机电一体化》2016年第10期13-17,共5页Mechatronics

基　　金：国家自然科学基金重点项目(批准号:51135009)

摘　　要：非线性摩擦是影响直线电机驱动的伺服系统动静态性能的主要因素。Lugre摩擦模型因准确地描述了摩擦力的动静态特性而被广泛采用。通过实验和回归的方法辨识出实验系统的Lugre摩擦模型。基于此模型,采用前馈技术进行摩擦力补偿控制,以实时系统d SPACE进行了相关实验。结果表明,基于Lugre模型的摩擦补偿可以消除速度跟踪的"死区"和位置跟踪的"平顶"现象,提高了系统的速度跟踪和位置跟踪精度。Nonlinear friction is the main factor that affects the dynamic and static performance of the servo sys- tem driven by linear motor. The Lugre friction model is widely used to describe the dynamic and static characteristics of the friction force for its high accruacy. The Lugre friction model of our system is identified by experiment and re- gression method. Based on this model, feedforward technique is adopted to compensate friction and experiments are carried out in real-time system （RTI） dSPACE. Results show that friction compensation based on the Lugre model can eliminate the ＂dead zone＂ and the ＂fiat top＂, which improves the precision of velocity tracking and position tracking.

关 键 词：直线电机 LUGRE模型 摩擦补偿 前馈技术 

分 类 号：TM359.4[电气工程—电机] TM921.54