液压仿真转台摩擦力矩自适应补偿的研究  

Research on Adaptive Friction Torque Compensation of Hydraulic Servosystems Used in Simulator

作　　者：李军伟[1] 赵克定[1] 曹健[1] 

机构地区：[1]哈尔滨工业大学机电工程学院,哈尔滨市150001

出　　处：《中国机械工程》2003年第12期1012-1014,共3页China Mechanical Engineering

摘　　要：针对液压马达所受到的动静摩擦力矩难以精确测定的特点,提出一种基于非精确模型的摩擦力矩补偿方法。在补偿过程中考虑了静摩擦力矩和动摩擦力矩,但在系统的设计过程中并不需要其精确值仅需其上界值。把该控制算法应用于某型号液压仿真转台的液压伺服系统中获得了较满意的效果。实验结果表明,与一般的PID控制相比该控制算法对系统的摩擦力矩补偿是完全有效的。This paper presents a method of adaptivefriction compensation based on inaccurate model of fric-tion in hydraulic servo systems. In order to design thecontroller accurate friction torque is not required, onlythe upper bound for the level is needed. The proposedcontroller is used in the hydraulic servo system of a simu-lator, and satisfactory results are achieved. The experi-mental comparison between the proposed controller and aPID controller without friction compensation reveals thatthe approach is effective in friction compensation.

关 键 词：摩擦力矩补偿 电液伺服系统 自适应控制 仿真转台 

分 类 号：V249[航空宇航科学与技术—飞行器设计]