摘要
This paper presents an adaptive friction compensation method based on LuGre model for large diameter electric-hydraulic proportional valves in which the valve core contains friction.A mathematic model of the electric-hydraulic proportional valve is established,and the friction characteristics are described based on the LuGre model.The global asymptotic stability of the control system with the adaptive friction compensation controller is guaranteed over Lyapunov theorem.The adaptive compensation of the friction on LuGre friction model is verified by simulation and experiment.The steady-state error is about [-4.23 × 10^(-5)m,5.91 × 10^(-5)m]and[-2.5 × 10^(-4)m,2.6 ×10^(-4) m] on simulation and experiment,the position tracking accuracy is higher,and the lag time of the main valve through the dead zone is shorter.The result proves that the adaptive friction compensation method can effectively compensate for the negative effects of nonlinear friction.
This paper presents an adaptive friction compensation method based on LuGre model for large diameter electric-hydraulic proportional valves in which the valve core contains friction. A math- ematic model of the electric-hydraulic proportional valve is established, and the friction characteris- tics are described based on the LuGre model. The global asymptotic stability of the control system with the adaptive friction compensation controller is guaranteed over Lyapunov theorem. The adap- tive compensation of the friction on LuGre friction model is verified by simulation and experiment. The steady-state error is about [-4.23 × 10^-5m, 5.91× 10^-5m] and [ -2.5 × 10^-4m, 2.6 × 10^-4m] on simulation and experiment, the position tracking accuracy is higher, and the lag time of the main valve through the dead zone is shorter. The result proves that the adaptive friction compen- sation method can effectively compensate for the negative effects of nonlinear friction.
基金
Supported by the National Key Basic Research Program of China(No.2014CB046405)
Key Projects in the National Science&Technology Pillar Program during the Twelfth Five-year Plan of China(No.2014BAF02B00,2011BAF09B04)
