中文摘要：

为减小摩擦对比例多路阀性能的影响,提出基于修正黏性摩擦LuGre模型的比例多路阀摩擦特性分析、模型参数辨识以及摩擦补偿方法。通过实验测试间接得出摩擦数据,运用数据拟合方法辨识出修正黏性摩擦LuGre模型的静态和动态参数。基于辨识参数设计出修正黏性摩擦LuGre模型摩擦状态观测器,将观测器摩擦信号输出量反馈到控制模型输入端,减小摩擦对比例多路阀性能的不良影响。仿真结果表明,基于辨识参数的修正黏性摩擦LuGre模型摩擦补偿方法可提高比例多路阀的位置跟踪精度。

英文摘要：

To decrease the influences of friction on the proportional multi-way valves, the methods of friction characteristic analysis, parameter identification and friction compensation of proportional multi-way valves were proposed based on modified viscous friction LuGre model. The friction data were indirectly obtained through the experimental tests. The static and dynamic parameters of modified viscous friction LuGre model were identified by data fitting. The friction state observer of modified viscous friction LuGre model was designed by use of the identified parameters, and the output of state observer was fed back to the input port of control model to reduce the adverse effect of friction on the proportional multi-way valve performances. Simulation results show that the location tracking accuracy of proportional multi-way valves may be improved by using the friction compensation with identification parameter method based on modified viscous friction LuGre model.