摘要
针对在伺服系统的摩擦补偿研究中,目前广泛应用的摩擦模型存在不足,如Dahl模型对摩擦现象描述不完整,Lu Gre模型复杂、参数过多、实际应用不稳定的问题,对其问题产生原因进行了分析和探讨,并结合伺服系统的实际运动特性,通过在模型中引入stribeck函数和整体的摩擦力项,从而给出了一种改进的摩擦模型。另外,从摩擦的stribeck效应、伺服系统中的滞-滑运动、极限环现象三个方面进行仿真,通过仿真结果分析,验证了该改进摩擦模型的有效性。
In researches of friction compensation in the servo system, aimed at some disadvantages of the friction models widely used at present, for example, the Dabl model could not describe the complete friction phenomenon, the LuGre model is too complex, there are so many parameters and application in practice is unstable, and etc., the causes of these problems were analyzed and dis- cussed. Considered together with the actual motion characteristics of the servo system, a modified friction model was proposed, by intro- ducing the stribeck function and overall friction term in the model. Besides, through the simulation experiment, the analysis results show that the modified model is effective, in three aspects of the stribeck effect, stick-slip motion of servo system and limit cycle phe- nomenon
出处
《机床与液压》
北大核心
2015年第11期148-151,共4页
Machine Tool & Hydraulics
基金
山西省高校科技创新项目(20120024)
山西省自然科学基金项目(2013011035-2)
关键词
摩擦补偿
摩擦模型
伺服系统
滞-滑运动
极限环
Friction compensation
Friction model
Servo system
Stick-slip motion
Limit cycle
