关键词: 中空式电液伺服马达, 摩擦补偿, LuGre模型, 仿真转台, 低速特性

Abstract:

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.

Key words: hollow electro-hydraulic servomotor, friction compensation, LuGre model, simulation turntable, lowspeed characteristic