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Friction force modeling method of electromechanical system and application thereof

A technology of electromechanical system and modeling method, which is applied in the direction of general control system, control/regulation system, electrical program control, etc., can solve the problems of large following error and low positioning accuracy, achieve fast identification speed, improve accuracy, and improve The effect of positioning accuracy

Active Publication Date: 2021-07-13
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology

[0005] Aiming at the above defects or improvement needs of the prior art, the present invention provides a friction modeling method and its application of the electromechanical system, thereby solving the problem of low positioning accuracy during low-speed motion and following error during high-speed motion in the existing electromechanical system larger technical issues

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  • Friction force modeling method of electromechanical system and application thereof
  • Friction force modeling method of electromechanical system and application thereof
  • Friction force modeling method of electromechanical system and application thereof

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Embodiment Construction

[0036] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0037] Such as figure 1 As shown, a friction modeling method for electromechanical systems, including:

[0038] Set the speed threshold. When the speed of the electromechanical system is between the speed zero point and the speed threshold, the friction force of the electromechanical system is linearly fitted to obtain the low-speed friction model;

[0039] When the speed of the electromechani...

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Abstract

The invention discloses a friction force modeling method of an electromechanical system and application thereof, and belongs to the field of electromechanical system dynamics analys. The modeling method comprises the steps that a speed threshold value is set, when the speed of the electromechanical system is between a speed zero point and the speed threshold value, linear fitting is conducted on friction force of the electromechanical system, and a low-speed-section friction model is obtained; and when the speed of the electromechanical system is greater than a speed threshold value, nonlinear fitting is carried out on the friction force of the electromechanical system to obtain a high-speed section friction model. Aiming at the condition that the direction and size of friction force at the position where the speed of the electromechanical system is zero are uncertain, a speed threshold value is set, and linear fitting is carried out between the speed zero point and the threshold value; aiming at the viscous friction attenuation condition at a high speed, nonlinear fitting is carried out on a high-speed section by introducing a viscous friction attenuation coefficient; thus, by improving the friction model, the positioning precision of the electromechanical system is improved.

Description

technical field [0001] The invention belongs to the field of dynamic analysis of electromechanical systems, and more specifically relates to a friction modeling method of electromechanical systems and its application. Background technique [0002] Friction is a complex nonlinear physical phenomenon that occurs between contact interfaces with relative motion. For centuries, friction phenomena have attracted many scholars to conduct in-depth and systematic research on it. In engineering practice, people use friction to work, such as automobile tires, clutches, brake pads, etc. However, for precision mechanical systems such as robots and CNC machine tools, the existence of friction causes unfavorable factors such as stick-slip motion, limit cycle oscillation, and tracking error. With the continuous improvement of the positioning accuracy requirements of mechanical systems, how to eliminate the influence of friction to the greatest extent has become a challenging task. Many sc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/416
CPCG05B19/4163G05B2219/36521Y02T90/00
Inventor 杨建中黄德海李昌俊段继航
Owner HUAZHONG UNIV OF SCI & TECH
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