Adaptive dynamic friction compensation control of electrohydraulic servo system

摘要

Low-speed performance and tracking accuracy of simulator's electrohydraulic servo system are effected by its nonlinear friction torque. Adaptive dynamic friction compensation control strategy with nonlinear observers of electrohydraulic servo system is proposed by building dynamic equations and LuGre friction model. The strategy can modify dynamic friction parameters constantly of servo system to compensate friction and improve low-speed performance by on-line adaptive rate. The effectiveness and superiority of the strategy are verified by comparing with feed-forward friction compensation control method.