基于LuGre摩擦模型的气缸摩擦力实验研究

发布时间：2018-04-16 09:20

本文选题：气缸 + 摩擦力　；参考：《浙江大学》2011年硕士论文

【摘要】：气缸作为气动系统中最常见的执行机构,以其结构简单、控制方便等优点,广泛应用于自动化生产中。近年来,随着微电子技术的飞速发展,气动技术与微电子技术相结合,气动伺服系统,特别是气缸位置伺服控制系统得到越来越广泛的应用,以满足工业设备的自动控制要求。然而,气动系统本身有不少不利于精确控制的弱点,其刚度比较差,非线性强。气缸的摩擦力特性,特别是低速状态下的摩擦力特性是影响其非线性的最主要因素之一,研究并掌握其特性对于更精确的伺服控制和爬行预测具有重要意义。对此,本课题综观国内外气缸摩擦力研究现状,在分析比较各种摩擦力模型和简要分析气缸摩擦力影响因素的基础上,结合实验室原有条件建立基于伺服电机的被动式气缸摩擦力测试台,实现被测气缸两腔气压与速度的独立控制。并以一无杆气缸和一单出杆气缸为例对其在不同气压、速度下的摩擦力进行测试分析,提出基于LuGre摩擦模型的各个动态和静态参数辨识和建模方法,并进一步研究供气压力和两腔压差对各个参数的影响,得出给定工作压力下被测气缸的摩擦力模型。最后根据实验结果,对于如何合理、有效率地测量和描述气缸摩擦力特性,提出了自己的一些有益建议。本论文主要分为四个章节：第一章本文的绪论部分,主要介绍了气动技术、气缸的特点和应用现状,以及国内外对气缸摩擦力的研究现状,并由此引出本论文的主要研究内容。第二章首先介绍了各种典型的摩擦现象,接着分析比较了现有的各种摩擦力静态和动态模型,简要分析了气缸摩擦力的影响因素,为摩擦力测试台的设计和测试结果提供理论依据。第三章详细描述了气缸摩擦力测试台的设计,包括其方案原理、硬件组成和软件设计。第四章以一无杆气缸和一单出杆气缸为例,对其在不同气压、速度下的摩擦力进行测试分析,研究供气压力和两腔压差对气缸的LuGre摩擦模型的各个动态和静态参数的影响。最后根据实验结果总结出如何合理、有效率地测量和描述气缸摩擦力特性的一些原则。
[Abstract]:As the most common actuator in pneumatic system, cylinder is widely used in automatic production because of its simple structure and convenient control.In recent years, with the rapid development of microelectronic technology and the combination of pneumatic technology and microelectronics technology, pneumatic servo system, especially the cylinder position servo control system, has been more and more widely used to meet the automatic control requirements of industrial equipment.However, the aerodynamic system itself has many disadvantages, such as poor stiffness and strong nonlinearity.The friction characteristic of cylinder, especially at low speed, is one of the most important factors affecting its nonlinearity. It is important to study and master its characteristics for more accurate servo control and creeping prediction.In this paper, the current situation of cylinder friction research at home and abroad is reviewed, and on the basis of analyzing and comparing all kinds of friction models and briefly analyzing the influence factors of cylinder friction force,A passive cylinder friction test bench based on servo motor was established in combination with the original conditions in the laboratory to realize the independent control of the pressure and velocity of the two chambers of the cylinder to be measured.The friction forces under different pressure and velocity are tested and analyzed by taking a rod less cylinder and a single outlet cylinder as examples. The dynamic and static parameter identification and modeling methods based on LuGre friction model are proposed.Furthermore, the influence of air supply pressure and pressure difference between two cavities on the parameters is studied, and the friction model of the measured cylinder under given working pressure is obtained.Finally, based on the experimental results, some useful suggestions on how to measure and describe the friction characteristics of cylinder reasonably and efficiently are put forward.This paper is divided into four chapters:The first chapter is the introduction of this paper, mainly introduces the pneumatic technology, the characteristics and application of the cylinder, as well as the domestic and foreign research status of cylinder friction, and leads to the main research content of this paper.In the second chapter, the typical friction phenomena are introduced, then the static and dynamic models of friction force are analyzed and compared, and the influence factors of cylinder friction force are briefly analyzed.It provides a theoretical basis for the design and test results of the friction test bench.The third chapter describes the design of cylinder friction test bench in detail, including its scheme principle, hardware composition and software design.In chapter 4, the friction force of a rod less cylinder and a single outlet cylinder are tested and analyzed at different pressure and velocity, and the influence of air supply pressure and pressure difference between two cavities on the dynamic and static parameters of LuGre friction model of cylinder is studied.Finally, based on the experimental results, some principles on how to measure and describe the friction characteristics of cylinder reasonably and efficiently are summarized.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH138.51

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