Abstract
In order to improve the control accuracy and adaptive ability of electro-hydraulic loading system, a back-stepping adaptive friction compensation method based on LuGre-model is presented here. The dynamic model of electro-hydraulic loading system is established, and the friction characteristics based on LuGre model are described. For adapting to the change of frictional model parameters of the system, the controller of adaptive friction compensation is designed through back-stepping method, and the global asymptotic stability of the control system is proved by Lyapunov theorem. Based on experiment data, the original parameters of LuGre model is identified through priori genetic algorithm. The effectiveness of the method is verified by three groups of experiment. The results show that 60% of the control accuracy is improved by using the controller of adaptive friction compensation.
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