Linearization Design of Servo System and Parameter Identification Based on LuGre Model

2021 ◽  
Author(s):  
Min Zhu ◽  
Ao Liu ◽  
Siyu Gao ◽  
Qiang Gao
Keyword(s):  
Parameter Identification ◽  
Servo System ◽  
Lugre Model

scholarly journals Dynamic Friction Parameter Identification Method with LuGre Model for Direct-Drive Rotary Torque Motor

2016 ◽  
Vol 2016 ◽  
pp. 1-8 ◽  
Author(s):  
Xingjian Wang ◽  
Siru Lin ◽  
Shaoping Wang
Keyword(s):  
Parameter Identification ◽  
High Performance ◽  
Controller Design ◽  
Identification Accuracy ◽  
Dynamic Friction ◽  
Direct Drive ◽  
Lugre Model ◽  
Friction Behavior ◽  
Identification Method ◽  
Friction Parameter

Attainment of high-performance motion/velocity control objectives for the Direct-Drive Rotary (DDR) torque motor should fully consider practical nonlinearities in controller design, such as dynamic friction. The LuGre model has been widely utilized to describe nonlinear friction behavior; however, parameter identification for the LuGre model remains a challenge. A new dynamic friction parameter identification method for LuGre model is proposed in this study. Static parameters are identified through a series of constant velocity experiments, while dynamic parameters are obtained through a presliding process. Novel evolutionary algorithm (NEA) is utilized to increase identification accuracy. Experimental results gathered from the identification experiments conducted in the study for a practical DDR torque motor control system validate the effectiveness of the proposed method.

High Performance Adaptive Control of Mechanical Servo System With LuGre Friction Model: Identification and Compensation

2011 ◽  
Vol 134 (1) ◽  
Author(s):  
Xingjian Wang ◽  
Shaoping Wang
Keyword(s):  
Adaptive Control ◽  
Parameter Identification ◽  
Control Algorithm ◽  
Servo System ◽  
Friction Model ◽  
Friction Compensation ◽  
Lugre Friction Model ◽  
Identification Technique ◽  
Lugre Friction ◽  
Adaptive Control Algorithm

LuGre dynamic friction model has been widely used in servo system for friction compensation, but it increases the difficulty of controller design because its parameters are difficult to be identified and its internal state is immeasurable. This paper presents a parameter identification technique based on novel evolutionary algorithm (NEA) for LuGre friction model. In order to settle the practical digital implementation problem of LuGre model, this paper also proposes a modified dual-observer with discontinuous mapping and smooth transfer function. On the basis of the parameter identification results and the modified dual-observer, this paper designs an adaptive control algorithm with dynamic friction compensation for hydraulic servo system. The comparative experiments indicate that the proposed parameter identification technique and the adaptive control algorithm with modified dual-observer are effective with high tracking performance.

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