仿真转台用新型连续回转液压伺服马达摩擦特性研究

Study on a new type of continuous rotary electro-hydraulic servo motor applied to simulator

介绍了一种仿真转台用新型叶片式无脉动连续回转液压伺服马达的工作原理 ,详细分析了拉各瑞( L ugre)摩擦力模型 ,给出了摩擦力模型的参数辨识方法及在系统中的补偿措施 ,通过实验研究 ,得到本新型连续回转马达的摩擦力矩模型 ,并通过实验对马达的低速及阶跃响应进行了研究。验证了采用摩擦力补偿措施有效地克服了系统的低速爬行及极限环震荡现象 。

The working principle of a new type of no pulsation continuous rotary electro hydraulic servomotor applied to simulator is introduced.The Lugre frication model used in this paper can meet the requirements for friction compensation of hydraulic system, because it could describe complex friction behavior, and two step off line identification methodology of the Lugre parameters has been proposed.By way of experiment research,we have got a new type of friction model of continuous rotary motor,and the low speed and step response of the motor have been researched.Experimental results have proved that using fraction compensation could eliminate stick slip motion at the low speed and this servomotor could be applied to simulator.