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为减小摩擦对比例多路阀性能的影响,提出基于修正黏性摩擦LuGre模型的比例多路阀摩擦特性分析、模型参数辨识以及摩擦补偿方法。通过实验测试间接得出摩擦数据,运用数据拟合方法辨识出修正黏性摩擦LuGre模型的静态和动态参数。基于辨识参数设计出修正黏性摩擦LuGre模型摩擦状态观测器,将观测器摩擦信号输出量反馈到控制模型输入端,减小摩擦对比例多路阀性能的不良影响。仿真结果表明,基于辨识参数的修正黏性摩擦LuGre模型摩擦补偿方法可提高比例多路阀的位置跟踪精度。 相似文献
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广泛存在于机械系统中的摩擦现象在系统处于低速运动时会表现出复杂的强非线性特征,将大幅度降低系统位置控制性能,因此需要将摩擦现象进行模型化分析并纳入系统特性。对常见的摩擦模型进行了介绍和分析;并以能够较为全面描述摩擦现象丰富特性的LuGre摩擦模型作为基础,讨论并分析了其数学特性;采用遗传算法对其6个未知参数进行识别,设计了一种非线性摩擦力观测器。通过仿真与试验,对遗传算法的有效性和摩擦力观测器的效果进行了验证。试验表明,提出的摩擦观测器与传统摩擦模型相比,能使系统跟随滞后量减小40%,实现系统理想的控制性能和轨迹跟踪精度。 相似文献
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针对飞轮电池中非线性摩擦的特点,建立了基于Lugre动态摩擦模型的飞轮电池系统状态方程。设计了遗传算法优化的滑模控制器对飞轮电池中的动态摩擦进行补偿。仿真结果表明,该方案可以实时补偿系统中的动态摩擦,达到满意的补偿效果,获得较高的位置跟踪、速度跟踪性能和鲁棒性能。并且由于遗传算法的优化,减小了滑模控制器的抖振。 相似文献
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The accurate estimation of road friction coefficient in the active safety control system has become increasingly prominent. Most previous studies on road friction estimation have only used vehicle longitudinal or lateral dynamics and often ignored the load transfer, which tends to cause inaccurate of the actual road friction coefficient. A novel method considering load transfer of front and rear axles is proposed to estimate road friction coefficient based on braking dynamic model of two-wheeled vehicle. Sliding mode control technique is used to build the ideal braking torque controller, which control target is to control the actual wheel slip ratio of front and rear wheels tracking the ideal wheel slip ratio. In order to eliminate the chattering problem of the sliding mode controller, integral switching surface is used to design the sliding mode surface. A second order linear extended state observer is designed to observe road friction coefficient based on wheel speed and braking torque of front and rear wheels.The proposed road friction coefficient estimation schemes are evaluated by simulation in ADAMS/Car. The results show that the estimated values can well agree with the actual values in different road conditions. The observer can estimate road friction coefficient exactly in real-time andresist external disturbance. The proposed research provides a novel method to estimate road friction coefficient with strong robustness and more accurate. 相似文献
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为了提高由直线电机驱动的精密定位系统的定位精度,建立了优化Stribeck摩擦模型,对摩擦力这一影响定位精度的主要因素进行补偿。首先,对于传统的Stribeck摩擦模型进行优化,采用改进的最小二乘算法对模型参数进行辨识。然后,对所建立的摩擦模型补偿算法进行仿真并与扰动观测器的补偿算法进行比较,发现前者速度比后者速度在补偿后提高了4.33%,对摩擦力具有更好的补偿效果。最后,在大行程二维精密定位平台上进行验证,根据平台能够达到的最大速度定义0.005 m/s为低速运动,0.05 m/s为高速运动,在这两种速度下进行实验,并与基于库仑摩擦前馈补偿模型比较。实验结果表明:精密定位平台在速度为0.005 m/s的低速运动时,优化模型的跟随误差减小了67.67%;在速度为0.05 m/s的高速运动时,优化模型的跟随误差减小了51.63%,验证了优化Stribeck摩擦模型补偿算法的有效性。本文提出的优化Stribeck摩擦模型可用于提高由直线电机驱动的精密定位系统的定位精度。 相似文献
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界面摩擦过程黏滑行为特征研究 总被引:1,自引:0,他引:1
通过建立界面摩擦系统动力学模型,并利用原子力显微镜测试云母、石英以及单晶硅片界面摩擦条件下的黏滑行为特征,探讨摩擦系统内外因素对黏滑频率、幅值的影响。结果表明:同一实验条件下,不同材料的黏滑频率与黏滑波动幅值不同;缓慢滑动时,黏滑的频率主要取决于表面势场的频率,波动幅值取决于表面势场强度,随着滑动速度逐渐增大,黏滑频率同时取决于表面势场频率和探针系统的固有频率,波动幅值取决于表面势场强度和探针系统结构;滑动速度较大时,黏滑频率及波动幅值主要取决于探针系统,且随着滑动速度增大,波动幅值逐渐减小。 相似文献
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文中提出了一个基于分解的控制设计框架并合成了摩擦补偿方案,以最合适的控制方法来补偿每个类型的摩擦.具有未知但恒定的参数的未建模摩擦由自适应来进行补偿,而模型参数变化的摩擦及非参数未建模摩擦由鲁棒补偿器来进行补偿.两种补偿器综合起来,构成了总的补偿方案,仿真结果证明了该摩擦补偿方案的有效性. 相似文献
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Grey Relation between Nonlinear Characteristic and Dynamic Uncertainty of Rolling Bearing Friction Torque 总被引:3,自引:0,他引:3
XIA Xintao WANG Zhongyu 《机械工程学报(英文版)》2009,22(2):244-249
The rolling bcaring friction torque which is characterized by its uncertainty and nonlinearity affects heavily the dynamic performance of a system such as missiles, spacecrafls and radars, etc. It is difficult to use the classical statistical theory to evaluate the dynamic evaluation of the rolling bearing friction torque for the lack of prior information about both probability distribution and trends. For this reason, based on the information poor system theory and combined with the correlation dimension in chaos theory, the concepts about the mean of the dynamic fluctuant range (MDFR) and the grey relation are proposed to resolve the problem about evaluating the nonlinear characteristic and the dynamic uncertainty of the rolling bearing friction torque. Friction torque experiments are done for three types of the rolling bearings marked with HKTA, HKTB and HKTC separately; meantime, the correlation dimension and MDFR are calculated to describe the nonlinear characteristic and the dynamic uncertainty of the friction torque, respectively. And the experiments reveal that there is a certain grey relation between the nonlinear characteristic and the dynamic uncertainty of the rolling bearing friction torque, viz. MDFR will become the nonlinear increasing trend with the correlation dimension increasing. Under the condition of fewer characteristic data and the lack of prior information about both probability distribution and trends, the unitive evaluation for the nonlinear characteristic and the dynamic uncertainty of the rolling bearing friction torque is realized with the grey confidence level of 87.7%-96.3%. 相似文献
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针对飞机主动侧杆系统中存在非线性摩擦因素,导致在飞机主动侧杆伺服系统中位置跟踪不精确,侧杆跟随性能下降的现象,在三环控制的基础上研究了Stribeck摩擦补偿方法。对Stribeck摩擦模型开展研究,并通过实验辨识其参数,将摩擦模型引入到飞机主动侧杆伺服系统中设计摩擦补偿方法,通过前馈补偿的方式在三环控制的基础上实现摩擦补偿。通过仿真和实验,对侧杆伺服系统摩擦补偿的可行性进行了验证。实验结果表明,所研究的摩擦补偿方法,提高了系统的稳态跟踪精度,具有较好的动态响应性能。 相似文献
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A model is developed to describe dynamic friction effects in lubricated surfaces. The model covers the hydrodynamic, mixed and boundary lubrication regions. The dynamic friction model can predict the friction force for time-varying velocity, and is useful in precise motion control. The model presented is for a short journal bearing, but can be extended to other geometries of sliding surfaces, such as point and line contacts or rolling element bearings. The friction is related to a time variable fluid film thickness, resulting from journal vibrations relative to the sleeve. The proposed model agrees qualitatively with experimental results for lubricated line contact. Both show similar hysteresis-type friction curves under oscillating velocity. 相似文献
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Seong Ik Han Chan Se Jeong Soon Yong Yang 《Journal of Mechanical Science and Technology》2012,26(4):1149-1159
A robust positioning control scheme has been developed using friction parameter observer and recurrent fuzzy neural networks
based on the sliding mode control. As a dynamic friction model, the LuGre model is adopted for handling friction compensation
because it has been known to capture sufficiently the properties of a nonlinear dynamic friction. A developed friction parameter
observer has a simple structure and also well estimates friction parameters of the LuGre friction model. In addition, an approximation
method for the system uncertainty is developed using recurrent fuzzy neural networks technology to improve the precision positioning
degree. Some simulation and experiment provide the verification on the performance of a proposed robust control scheme. 相似文献
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针对大吨位惯性摩擦焊机多缸液压顶锻系统强干扰、强非线性的特点,面向多缸系统同步性能的高精度、强抗干扰的要求,基于自行设计的一套具有位置反馈的三缸液压顶锻系统,建立了阀控缸系统以及位置反馈同步系统的动态响应数学模型,并且提出了以伺服阀控液压系统为基础,在偏差耦合控制方式下采用模糊PID对控制参数进行优化的多缸同步控制策略。在MATLAB Simulink中对该控制算法进行仿真研究,并与传统PID控制算法进行对比。结果表明,所设计的控制策略实现了千吨级负载下多缸系统同步误差小于0.05 mm的稳定输出,具有较好的鲁棒性和较高的同步控制精度,为国产大吨位惯性摩擦焊机液压伺服系统提供设计参考。 相似文献
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为了进行供油压力高、输出流量大的轴向柱塞泵配流副、滑靴副等关键摩擦副润滑膜性能试验,基于试验供油油路与加载油路分离原则,研制了轴向柱塞泵摩擦副润滑性能试验系统。论述了轴向柱塞泵摩擦副润滑特性研究的必要性及目前试验研究存在的主要问题,根据润滑理论模型分析了试验研究的主要内容,针对其难点提出了基于精密位置反馈的新型电液控制润滑膜动态试验系统组成、特点及关键技术等。通过在研制的试验系统上进行实际的油膜平衡、密封带多点膜厚实测及泄漏流量与膜厚等试验的数据分析表明,该试验系统稳定、可靠,能够完成预期设计的试验对系统的要求,亦可开展相关摩擦副润滑特性试验研究。 相似文献
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弹流油膜具有显著的弹簧、阻尼特性,对高副机械零件和系统的动特性具有重要影响。研究弹流摩擦副的动特性,揭示弹流摩擦副动力学特性的变化规律,对改进和提升整个机械系统的动力学设计具有重要意义。基于弹流润滑理论和机械振动学,建立点接触弹流摩擦副的摩擦学-动力学耦合模型,采用数值方法求解弹流摩擦副在简谐激励下的振动响应;通过简谐激励下弹流摩擦副的阻尼环识别出弹流摩擦副的刚度和阻尼,用参数控制的方法研究载荷、速度、材料参数及椭圆度等对弹流摩擦副刚度和阻尼的影响。结果表明:在研究的速度和载荷范围内,摩擦副的刚度和阻尼随载荷和椭圆度的增大而增大,随速度和材料参数的增大而减小,其中载荷对点接触EHL摩擦副的刚度和阻尼的影响最为显著,相比阻尼,摩擦副的刚度随载荷、速度和材料参数的变化幅度要大得多。在数值算例的基础上,给出弹流摩擦副的刚度和阻尼关于载荷、速度和材料参数的拟合公式。数值比较结果表明,给出的拟合公式具有满意的精度,可快速计算弹流状态下点接触摩擦副的刚度和阻尼。 相似文献
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We investigate the sliding dynamics of atomic-scale friction at different time scales. Depending on the dynamic inertia and sliding velocity of a cantilever, different dynamic behaviors are observed from both conventional molecular dynamics (MD) simulation and temporally hybrid molecular simulation methods. The mechanism of friction dissipation is also investigated. For either smooth sliding or stick–slip, a non-zero work of friction is obtained, while surface forces are no longer conservative. 相似文献