Dynamic Friction Parameter Identification Method with LuGre Model for Direct-Drive Rotary Torque Motor

Xingjian Wang, Siru Lin and Shaoping Wang

Mathematical Problems in Engineering, 2016, vol. 2016, 1-8

Abstract:

Attainment of high-performance motion/velocity control objectives for the Direct-Drive Rotary (DDR) torque motor should fully consider practical nonlinearities in controller design, such as dynamic friction. The LuGre model has been widely utilized to describe nonlinear friction behavior; however, parameter identification for the LuGre model remains a challenge. A new dynamic friction parameter identification method for LuGre model is proposed in this study. Static parameters are identified through a series of constant velocity experiments, while dynamic parameters are obtained through a presliding process. Novel evolutionary algorithm (NEA) is utilized to increase identification accuracy. Experimental results gathered from the identification experiments conducted in the study for a practical DDR torque motor control system validate the effectiveness of the proposed method.

Date: 2016
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:6929457

DOI: 10.1155/2016/6929457

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