考虑缸内摩擦力补偿的液压回转关节运动控制  

Motion Control of Hydraulic Joint Considering Compensation for In-cylinder Friction

作　　者：王锦涛 吕立彤 张心颖 张连朋 王瑞晨 Wang Jintao;Lu Litong;Zhang Xinying;Zhang Lianpeng;Wang Ruichen(School of Mechanical Engineering,Shijiazhuang Tiedao University,Shijiazhuang 050043,China)

机构地区：[1]石家庄铁道大学机械工程学院,石家庄050043

出　　处：《机电工程技术》2025年第5期118-122,142,共6页Mechanical & Electrical Engineering Technology

基　　金：国家重点研发计划(2023YFC2809903);国家自然科学基金资助项目(52105065,52205064)。

摘　　要：液压机械装备的建模方式仅考虑运动关节处的库仑摩擦以及黏滞摩擦力而忽略了液压缸直线运动的摩擦力,导致在运动控制中存在摩擦力补偿不到位的问题。以液压机械臂的运动控制为载体,详细分析直线运动液压缸推动关节转动的非线性驱动关节构型,并考虑来自液压缸内部和转动轴的摩擦特性,建立起基于模型补偿的液压机械臂非线性驱动关节动力学模型,分析现有主流PID与前馈PID等不基于模型控制的算法,相较于基于模型的自适应鲁棒控制在轨迹跟踪控制精度上存在不足,采用自适应鲁棒控制算法对比有无缸内摩擦力补偿的液压机械臂回转关节运动控制精度差异。最后通过开展多组实验对比,验证在相同控制算法下考虑液压缸内部摩擦力补偿方式对于提升液压机械系统的运动控制精度有显著效果。The modeling method for hydraulic mechanical equipment only considers Coulomb friction and viscous friction at the motion joints,while ignoring the friction force of hydraulic cylinder linear motion,resulting in inadequate friction compensation in motion control.The motion control of hydraulic robotic arms is used as a carrier to analyze in detail the nonlinear driving joint configuration of linear motion hydraulic cylinders that drive joint rotation,and the friction characteristics from the inside of the hydraulic cylinder and the rotating shaft are considered.A model compensation is established based nonlinear driving joint dynamics model for hydraulic robotic arms,and the existing mainstream PID and feedforward PID non model based control algorithms are analyzed.Compared with model-based adaptive robust control,there are shortcomings in trajectory tracking control accuracy.Adaptive robust control algorithms are used to compare the accuracy differences of hydraulic robotic arm rotary joint motion control with and without cylinder friction compensation.Finally,by conducting multiple experimental comparisons,it is verified that considering the internal friction compensation method of hydraulic cylinders under the same control algorithm has a significant effect on improving the motion control accuracy of hydraulic mechanical systems.

关 键 词：液压缸 摩擦力补偿 回转关节 自适应鲁棒控制 

分 类 号：TH137[机械工程—机械制造及自动化]