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针对摩擦干扰在电液负载模拟器控制中的影响,提出了将被试件简化为自由伸缩刚性杆的摩擦力作用模型.模型中采用能全面反应摩擦特性的LuGre模型描述摩擦力大小.LuGre的静力摩擦系数和动力摩擦系数依托两种特殊工作状态进行辨识,相应的辨识数据验证了所求系数的准确性.摩擦补偿具体实施时,利用结构不变性原理,求解出摩擦补偿控制器.在此基础上,对负载模拟器开展了位移伺服、力矩伺服、多余力等方面的摩擦力补偿实验.实验结果表明,所求解的LuGre模型及摩擦补偿控制器可以较好地消除摩擦力对负载模拟器控制的影响.
In view of the influence of frictional disturbance on the control of electro-hydraulic load simulator, a model of friction acting on the specimen to be simplified as a free-extending rigid rod is proposed. The LuGre model, which can fully reflect the frictional characteristics, is used to describe the frictional force. The static friction coefficient and the dynamic friction coefficient are identified by two special working states, and the corresponding identification data verify the accuracy of the required coefficients. When the friction compensation is implemented, the friction compensation controller is solved by using the principle of structural invariance. On this basis, the load simulator carried out the displacement servo, torque servo, spare force friction compensation experiments.The experimental results show that the solved LuGre model and the friction compensation controller can better eliminate the friction on the load simulation Control of the impact of the device.