a practical method for friction identification in hydraulic actuators：一种实用的液压作动器摩擦识别方法_精品.pdf

论文 Mechatronics 21 (2011) 350–356 Contents lists available at ScienceDirect Mechatronics journal homepage: /locate/mechatronics Technical note A practical method for friction identification in hydraulic actuators } a,⇑ a b Lorinc Márton , Szabolcs Fodor , Nariman Sepehri a Department of Electrical Engineering, Sapientia Hungarian University of Transylvania, 540485 Tirgu Mures, Op. 9, Cp. 4, Romania b Department of Mechanical and Manufacturing Engineering, The University of Manitoba, Winnipeg, Manitoba, Canada R3T 5V6 a r t i c l e i n f o a b s t r a c t Article history: Friction in hydraulic actuators can be described using nonlinear, velocity dependent models. In this Received 10 November 2009 paper, the friction is described by an exponential Stribeck friction model. An iterative algorithm is pre- Accepted 26 August 2010 sented to identify the friction model parameters. The method fits two lines on the experimental data Available online 21 September 2010 relating steady-state velocities to actuator pressure differentials. The parameters of the fitted lines are obtained using an iterative optimization technique. Based on the obtained parameters, the original Keywords: nonlinear friction model parameters are completely reconstructed. The proposed method is validated Hydraulic actuators