动态摩擦的matlable仿真.docVIP

动态摩擦模型的仿真 王洪瑞1， 王霞1， 陈丽2， 王丽玲1 （1 河北大学电子信息工程学院，河北，保定 071002； 2 燕山大学电气工程学院，河北，秦皇岛 066004） 摘要：为了深入分析摩擦力动态特性在高精度的伺服系统控制中造成的影响，检验摩擦补偿方法对动态摩擦的补偿效果，需要建立一个有效的动态仿真摩擦模型。如今摩擦的仿真研究都局限于非线性静态模型的实现，而对于微分方程描述的动态模型，还没有有效的实现方法。尤其是系统启动时，静摩擦给系统造成的小误差观察不到。基于动态刚毛摩擦模型，通过定义“粘滞”和“滑动”两个状态，成功的模拟出摩擦在启动和制动时对系统的不同影响。在跟踪正弦轨迹的误差仿真结果中可以观察到：速度转向时摩擦造成了启动小误差，与实际情况一致。这种处理方法适用于微分方程描述的动态摩擦模型，同样可以用于代数方程描述的静态模型仿真。 关键词：动态摩擦模型；s-function；伺服系统；轨迹跟踪 中图分类号：TP273 文献标识码：A A Simulatoin Method for Dynamic Friction Model WANG Hong-rui1, WANG Xia1, CHEN Li2, WANG Li-ling1 (1 Hebei University, Electric and information engineering department, Hebei, Baoding 071002; 2 Yanshan University, Electric engineering department, Hebei, Qinhuangdao 066004) Abstract: In order to analyze the result caused by the frictional dynamic character in servo system, and test the validity of various friction compensation methods, a simulation scheme for dynamic friction model is required. Although simulation methods for nonlinear static friction model have been brought forward, there isn’t any effective method to simulate dynamic model up to the present. It means that the glitch caused by static friction at velocity reversals can’t be observed in simulation. Different affections of friction in staring and stopping are distinguished by dividing the movement of the system into two proceedings-stick and slip. In the simulation, a servo system is conducted to follow a sinusoidal signal, where friction force is expressed by LuGre friction model. The glitch caused by friction at reversals is observed in the simulation result, which is consistent with reality. This method can also be applied to other dynamic models and static models. Keywords: dynamic friction model; s-function; servo system; trace tracking 1 引言( 在伺服系统的定位和速度控制中，摩擦力是影响控制效果的主要因素，主要是因为零速附近摩擦力的强烈非线性特性和静摩擦的存在。为了分析摩擦力对系统的影响并进行补偿，许多摩擦模型早已经被相继提出[1][2]。但对摩擦模型的仿真困难重重，尤其是零速附近非线性摩擦对系统的影响。基于静态摩擦模型的补偿已经作了很多的研究，文献[3]就静态摩擦模型的建模与仿真做了简要地概述，并对三种摩擦模型的仿真结果进行了比较，指出状态转换模型（Karnopp模型）能较好的仿真相对速度为零时的摩擦特性。文