中空式电液伺服马达中摩擦力矩的动态补偿

Dynamic Friction Compensation to Hollow Axis Hydraulic Servo-Motor

针对大体积飞行器仿真试验时的重力偏载情况,设计制造了一种仿真转台用中空式电液伺服马达.对影响其超低速跟踪性能的摩擦力矩进行了分析,建立了大摩擦力矩条件下的中空马达数学模型.设计了一种基于LuGre模型的自适应摩擦力矩补偿控制器.为验证该控制器的有效性,进行了不同输入下的数值仿真及试验研究.结果表明,与传统的PID控制相比,基于LuGre模型的自适应摩擦力矩补偿控制能够更好地实现马达的低速性能.

In order to avoid the unbalanced gravity load during the simulation of large-scale aircrafts, a hollow electro-hydraulic servomotor for the simulation turntable is designed and manufactured. Then, the friction torque to affect the ultra-low-speed tracking performance is analyzed, and a mathematical model of the servomotor with large friction torque is established. Moreover, an adaptive controller with friction compensation is devised based on the LuGre model. Finally, simulations and experiments with different inputs are carried out to verify the effectiveness of the controller. The results show that, as compared with the conventional PID controller, the proposed adaptive controller helps to implement the low-speed performance of the servomotor better.