机电工程技术2025，Vol.54Issue(5)：118-122,142,6.DOI:10.3969/j.issn.1009-9492.2024.00123
考虑缸内摩擦力补偿的液压回转关节运动控制
Motion Control of Hydraulic Joint Considering Compensation for In-cylinder Friction
摘要
Abstract
The modeling method for hydraulic mechanical equipment only considers Coulomb friction and viscous friction at the motion joints,while ignoring the friction force of hydraulic cylinder linear motion,resulting in inadequate friction compensation in motion control.The motion control of hydraulic robotic arms is used as a carrier to analyze in detail the nonlinear driving joint configuration of linear motion hydraulic cylinders that drive joint rotation,and the friction characteristics from the inside of the hydraulic cylinder and the rotating shaft are considered.A model compensation is established based nonlinear driving joint dynamics model for hydraulic robotic arms,and the existing mainstream PID and feedforward PID non model based control algorithms are analyzed.Compared with model-based adaptive robust control,there are shortcomings in trajectory tracking control accuracy.Adaptive robust control algorithms are used to compare the accuracy differences of hydraulic robotic arm rotary joint motion control with and without cylinder friction compensation.Finally,by conducting multiple experimental comparisons,it is verified that considering the internal friction compensation method of hydraulic cylinders under the same control algorithm has a significant effect on improving the motion control accuracy of hydraulic mechanical systems.关键词
液压缸/摩擦力补偿/回转关节/自适应鲁棒控制Key words
hydraulic cylinders/friction compensation/gyration joints/adaptive robust control分类
机械制造引用本文复制引用
王锦涛,吕立彤,张心颖,张连朋,王瑞晨..考虑缸内摩擦力补偿的液压回转关节运动控制[J].机电工程技术,2025,54(5):118-122,142,6.基金项目
国家重点研发计划(2023YFC2809903) （2023YFC2809903）
国家自然科学基金资助项目(52105065,52205064) （52105065,52205064）
