Dynamic Friction Parameter Identification Method with LuGre Model for Direct-Drive Rotary Torque Motor. (23rd March 2016)

• Record Type: Journal Article
• Authors: Wang, Xingjian; Lin, Siru; Wang, Shaoping
• Other Names: Saltarén Roque J. Academic Editor.
• Is Part Of: Mathematical problems in engineering. Volume 2016(2016)
• Publication Date: 2016-03-23
• Subjects: Engineering mathematics -- Periodicals; 510.2462
• DOI: 10.1155/2016/6929457
• Languages: English
• ISSNs: 1024-123X

Abstract

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.