液压与气动2025，Vol.49Issue(12)：85-95,11.DOI:10.11832/j.issn.1000-4858.2025.12.009
挖掘机电液伺服系统摩擦参数辨识与补偿控制
Friction Parameter Identification and Compensation Control of Excavator Electro-hydraulic Servo System
摘要
Abstract
High-precision control of excavator electro-hydraulic servo systems is significantly hindered by difficulties in accurately identifying parameters for nonlinear friction models.To address this,a hybrid optimization algorithm is developed by integrating genetic algorithm selection and crossover operations into a particle swarm optimization framework,enhanced with adaptive strategies for inertia weight and learning coefficients.This proposed algorithm demonstrates superior performance in identifying parameters for the LuGre friction model,achieving a maximum friction force error of only 1.70 kN-a 40.68％improvement in solution quality over a standard genetic algorithm.Subsequently,an adaptive friction compensation controller is designed based on the identified model.The experimental validation on a 23 t excavator shows that the proposed controller achieves a maximum trajectory tracking error of 11.56 mm for a sinusoidal input,significantly outperforming traditional PID and feedforward compensation controllers.The proposed controller effectively compensates for friction and disturbances,eliminating stick-slip phenomena and improving system robustness and tracking accuracy.关键词
挖掘机/电液伺服系统/自适应摩擦补偿控制器/混合优化算法/参数辨识Key words
excavator/electro-hydraulic servo system/adaptive friction compensation controller/hybrid optimization algorithm/parameter identification分类
机械制造引用本文复制引用
刘李婷,冯浩,周晨曦,殷晨波,曹东辉,孙琳..挖掘机电液伺服系统摩擦参数辨识与补偿控制[J].液压与气动,2025,49(12):85-95,11.基金项目
国家自然科学基金(52105064) （52105064）
中国博士后科学基金资助项目(2025T180363) （2025T180363）
国家级大学生创新创业训练计划支持项目(202410300053Z) （202410300053Z）
江苏省级大学生创新创业训练计划支持项目(202410300053Z) （202410300053Z）
校级大学生创新训练计划(XJDC202410300209) （XJDC202410300209）
