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- Title
挖掘机液压系统非线性摩擦的辨识与补偿.
- Authors
杨超; 赵佳伟; 马伟; 殷晨波; 杨中良; 王大宇
- Abstract
Aiming at the phenomenon that the excavator electro-hydraulic proportional control system is affected by the nonlinear friction of the hydraulic cylinder, the system stability and control accuracy are reduced, a strategy using a combination of an improved particle swarm algorithm and feedforward compensation was proposed and the control system was optimized to improve the displacement tracking accuracy. The electro-hydraulic system model was established, and the nonlinear friction was described by the improved Stribeck model. The model parameters were identified and optimized by the improved particle swarm algorithm, and a dynamic friction feedforward compensation method was designed according to the principle of structural invariance. On this basis, the experimental research of sinusoidal signal, high-speed working condition and low-speed working condition was carried out. Experimental results show that the proposed Stribeck model and friction compensation control method can effectively improve the phenomenon of low-speed crawling and peaking, and improve the trajectory tracking accuracy by about 45%.
- Subjects
PROPORTIONAL control systems; SLIDING friction; PARTICLE swarm optimization; HYDRAULIC cylinders; ELECTROHYDRAULIC effect; FRICTION
- Publication
Machine Tool & Hydraulics, 2023, Vol 51, Issue 20, p163
- ISSN
1001-3881
- Publication type
Article
- DOI
10.3969/j.issn.1001-3881.2023.20.026