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Dynamic Friction Parameter Identification Method with LuGre Model for Direct-Drive Rotary Torque Motor

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  • Xingjian Wang
  • Siru Lin
  • Shaoping Wang

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.

Suggested Citation

  • Xingjian Wang & Siru Lin & Shaoping Wang, 2016. "Dynamic Friction Parameter Identification Method with LuGre Model for Direct-Drive Rotary Torque Motor," Mathematical Problems in Engineering, Hindawi, vol. 2016, pages 1-8, March.
    • Handle: RePEc:hin:jnlmpe:6929457
    DOI: 10.1155/2016/6929457
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