System and method for testing dynamic friction parameter

A parametric testing and dynamic friction technology, applied in the testing field, can solve the problems of no LuGre friction parameters, no equipment, no theoretical basis for system decoupling, etc.

Inactive Publication Date: 2008-07-23
XIDIAN UNIV
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Problems solved by technology

[0027] 2. Since both the linearization method and the frequency domain method approximate the original model, the measurement of dynamic parameters will inevitably lead to a decrease in its accuracy
[0028] 3. Since the dynamic parameters and static parameters in the original LuGre model are coupled together, there is no

Method used

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  • System and method for testing dynamic friction parameter
  • System and method for testing dynamic friction parameter

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Embodiment Construction

[0060] 1, the test system of the present invention includes: the mechanical structure consists of a handle 1, a locking mechanism 2, a torque sensor 4, a test piece and a weight fixing device 6, a test piece 7, a drive shaft 8, a frame 10, a horizontal The bracket 11, the torque motor 13, the absolute encoder 14 and the controller 16. The test piece and weight fixing device 6 are divided into upper and lower layers, the surface of the lower layer 6a is provided with a square groove, the upper layer 6b is a stepped shaft, the upper and lower flanges 4a and 4b are fixedly connected to the torque sensor, and the frame 10 is a whole The cast rectangular parallelepiped frame structure is easy to operate. There is a two-layer horizontal bracket 11 in the middle to increase rigidity. The drive shaft 8 is mounted on the horizontal bracket 11 through a bearing 9 and can rotate around its axis. The absolute encoder 14 is fixed to the torque motor 13, and is coaxially installed on the lower ...

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Abstract

The invention discloses a test system and method of dynamic friction parameter, the test system is characterized in that's: an absolute encoder 14 is arranged on a motor 13, a moment sensor 4 is arranged axially between a test part, a weight fixing device 6 and a locking mechanism 2, the test part is arranged at upper and lower layers of the weight fixing device, when testing, the operation of the motor is controlled by a controller, moreover the parameters including the sampling time, friction moment, rotating speed, rotating angle and motor winding current are recorded synchronously, the evaluated value of current friction parameters are set at Sigma 0, Sigma 1, Fc, Fs, Omegas, and Sigma, and then differential equation of systematic movement is solved so as to obtain the evaluated value Theta(t) of moment motor rotating angle of each sampling time, thereby respectively calculating the errors of the evaluated values of the moment motor rotating angle and the friction moment of each sampling time, the error parameters are contrasted with the set testing parameters so as to meet the required evaluated value of the output friction parameters, otherwise correction is re-made. The test system and method of dynamic friction parameter has the advantages of convenient testing and high precision. The test system is applicable for dynamic friction parameter test on various materials.

Description

Technical field [0001] The invention belongs to the technical field of testing, and particularly relates to the measurement of dynamic friction parameters, which is used to guide the design of a high-performance servo system. Background technique [0002] In a servo system, friction will be generated on two contact surfaces with relative motion or relative motion tendency. Friction reduces the stability and steady-state accuracy of the system, causes low-speed crawling, and constitutes a serious obstacle to the improvement of system performance. A large number of studies have shown that friction is a complex physical phenomenon. The friction coefficient is not only nonlinearly related to the relative speed of movement between the contact surfaces, which is called the static characteristics of friction, but also has dynamic effects such as friction memory and increased static friction. Armstrong B, Dupont P, Canudas de Wit C. "A Survey of Models, Analysis Tools and Compensation Me...

Claims

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Application Information

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IPC IPC(8): G01D21/02
Inventor 黄进张丹段宝岩马燕玲
Owner XIDIAN UNIV
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