中文摘要：

以液压缸系统为研究对象，研究了爬行现象的产生机理及抑制方法。通过理论研究，揭示了液压弹簧刚度和摩擦力内在的非线性时变规律及作用机理。用非线性动力学研究方法对实测的液压缸系统的动态数据进行了深入分析，揭示了液压弹簧刚度非线性时变特性引起的“跳跃现象”和摩擦力非线性时变特性引起的“极限环型振荡”现象。指出非线性液压弹簧力和非线性摩擦力的共同作用是液压缸产生低速爬行的主要原因，并提出了相应的抑制措施来有效提高液压缸的低速传动性能。

英文摘要：

The aim of this research is to explore the mechanism and the suppression methods of creeping phenomenon in hydraulic cylinder system. The nonlinear time-varying laws and function mechanism of hydraulic spring stiffness and friction were revealed through theory analysis. Then, with the nonlinear dynamics methods, the measured dynamic data were thoroughly analyzed. The ＂jump phenomenon＂ caused by the nonlinear time-varying characteristic of hydraulic spring stiffness and the ＂limit cycle oscillation＂ caused by the nonlinear time-varying characteristic of friction were revealed. The combined effect of nonlinear hydraulic spring force and nonlinear friction is the main cause for the low-speed creeping of hydraulic cylinder. Moreover, the corresponding suppression measures were proposed to improve the low-speed transmission stability of hydraulic cylinder. The results indicate that the research can make the comprehensive analysis of dynamic characteristics of hydraulic cylinder system more realistic.