基于LuGre摩擦模型补偿的动态电液测力建模与实验研究

发布时间：2018-07-13 18:57

【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%。
[Abstract]:In order to improve the accuracy of dynamic load measurement of electro-hydraulic force measuring system, Lu Gre friction model is used to describe the nonlinear characteristics of friction force in dynamic force measurement, and a dynamic electro-hydraulic force measuring system based on proportional valve pressure control is built. The friction force under different oil pressure and velocity is measured, and the dynamic and static parameters are obtained according to the experimental data and the identification model of dynamic and static parameters. The influence of oil pressure and moving velocity on the parameters of Lu Gre model is further studied, and the Lu Gre friction model of oil pressure and moving velocity is obtained, and the oil thrust is compensated in real time. The accuracy of dynamic electro-hydraulic force measurement based on Lu Gre friction model compensation is obtained. The experimental results show that the Coulomb friction force, maximum static friction force and dynamic parameters increase with the increase of oil pressure, while the viscous friction coefficient and Stribeck velocity decrease with the increase of oil pressure. The measuring accuracy of dynamic electro-hydraulic force measuring system based on Lu Gre friction compensation can reach 0.45.
【作者单位】：徐工挖掘机械有限公司;郑州煤矿机械集团股份有限公司;北京机床所精密机电有限公司;燕山大学机械工程学院;
【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)
【分类号】：TH137

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