锻压技术

基于局部Lipschiz映射的模锻压机非线性摩擦自适应补偿

英文标题：Adaptive compensation of nonlinear friction for die-forging hydraulic press machine based on local Lipschiz projection

作者：麻鹏达李毅波潘晴

单位：中南大学

关键词：模锻压机稳定性自适应控制局部Lipschiz映射

分类号：TG315,TP211+.2

出版年,卷(期):页码：2016,41(3):73-78

摘要：

模锻压机在国防、军工行业中具有极为重要的作用。然而低速运行时的模锻压机极易出现速度不稳定、抖动、甚至爬行等现象，非线性摩擦力是造成该现象的关键因素。为提高模锻压机低速运行时的稳定性，设计了一种自适应控制方法来补偿非线性摩擦力。该控制方法是在LuGre模型的基础上，通过使用局部Lipschiz映射来更新摩擦模型的参数，并且使用双曲函数来减轻控制系统的抖振，随后定义了1个Lyapunov函数并验证了该控制方法的稳定性。Matlab/Simulink环境下的仿真结果显示，该控制方法相比于传统PID控制方法，能够提高模锻压机低速运行时的响应速度和稳定性。

Die-forging press machine (DFPM) plays a very important role in national defense and military industry. However, when DFPM runs at low speed, the phenomena such as speed fluctuation, jitter and even crawling always appear due to the nonlinear friction. To improve the stability of DFPM under a low speed, a new kind of adaptive control method to compensate the nonlinear friction was designed. Based on LuGre model, the friction model parameters were updated by the local Lipschiz projection, and the chattering of control system was reduced by a hyperbolic function. Finally, a Lyapunov function was defined to verify the stability of the control method. Under the environment of Matlab/Simulink, simulation results show that the proposed control method can improve the speed response and the stability of the DFPM at a low speed by comparing with the traditional PID control method.

基金项目：

国家973 项目( 2011CB706802)；中南大学创新驱动计划（2015CX002）

麻鹏达（1989-），男，硕士研究生通讯作者：李毅波（1981-），男，博士，副教授

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