锻压技术

基于LuGre模型的大型模锻装备低速摩擦补偿分析

英文标题：Analysis on low-velocity friction compensation of large forging

作者：李文坚李毅波潘晴

单位：中南大学

分类号：

出版年,卷(期):页码：2015,40(1):71-75

摘要：

由于非线性摩擦力的存在，大型模锻装备在低速运行时易出现速度不稳定、抖动、甚至爬行，致使其加工性能变差。通过对大型模锻装备低速部分进行建模并仿真分析，表明非线性摩擦力是影响大型模锻装备低速稳定性的主要因素。分别采用传统PID控制和基于LuGre摩擦模型建立的摩擦观测器加PID控制进行摩擦补偿，并在Matlab Simulink中进行仿真，仿真结果表明，大型模锻装备低速系统采用PID调节加摩擦补偿比单纯采用PID控制时系统的速度稳态误差降低了50%，其低速性能得到明显的改善，系统的快速性、稳定性获得明显的提高。

Because of nonlinear friction, large forging equipment in low speed is likely to undergo speed fluctuation, jitter, and even creeping phenomenon resulting in poor process performance. By setting up model and numerical simulation, the main factor influences on low speed stability of the large forging equipment is nonlinear friction. The friction compensate was carried out by traditional PID control method and PID control method combined with LuGre-fiction-model based friction observer respectively, and was simulated by Matlab Simulink. The results show that the steady error of speed deduces by 50% using the latter control method in the large forging equipment, which improves low-speed performance, efficiency and stability of the system remarkably.

基金项目：

国家973项目“超高强锻件多向成形的流线演变数字化表征与力-位移协同控制”(2011CB706802)

李文坚（1990-），男，硕士研究生

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