CN114291051B - Method and device for modeling internal friction force of motor servo type hydraulic line control brake system - Google Patents
Method and device for modeling internal friction force of motor servo type hydraulic line control brake system Download PDFInfo
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Abstract
The invention relates to a method and a device for modeling the internal friction force of a motor servo type wire control brake system, which is characterized by comprising the following steps: establishing a continuous friction model aiming at a motor servo type line control brake system; and establishing a friction force calculation model based on the continuous friction model to realize dynamic friction torque measurement. The invention provides a friction model with asymmetric characteristics on the basis of a symmetric brush model widely applied to rubber deformation description, which is a brand-new model for describing the internal friction of a motor servo type brake-by-wire system, can accurately describe the change relation of the internal friction of the motor servo type hydraulic brake system along with speed and load pressure, simultaneously ensures the continuous change of the friction, can inhibit the unnatural disturbance caused by discontinuous mutation of the friction model in the hydraulic pressure control process of the system, and can be widely applied to pressure control.
Description
Technical Field
The invention relates to an internal friction force modeling method and device of a motor servo type brake-by-wire system, and relates to the technical field of automobile brake-by-wire.
Background
The drive-by-wire capability is a necessary attribute of intelligent vehicles and plays a fundamental role in the current automobile electromotion and intelligence processes. The wire-controlled technology mainly comprises two major aspects of wire-controlled steering and wire-controlled braking. The brake-by-wire system responds to a brake signal of a driver or an automatic driving system and independently generates brake capacity, so that the brake-by-wire system has the active brake-by-wire capacity.
The motor servo type brake-by-wire system is used as one of the brake-by-wire systems and has the function of realizing active braking of a vehicle. Meanwhile, compared with the structure of the high-pressure energy accumulator of the previous generation, the servo motor is adopted to replace the high-pressure energy accumulator, so that the controllability of the system is higher, and a brake pressure control method based on a system dynamic model is easy to deploy. Based on the above advantages, the motor servo type brake-by-wire system is gradually replacing the high-voltage energy accumulator type brake-by-wire system, and becomes the mainstream scheme for the development of future passenger vehicle brake systems. For a servo hydraulic system, friction is always a key factor influencing the control effect of the system, and for an electromechanical servo hydraulic line control brake system, experimental results show that the influence of the friction on the control effect is more obvious, and the friction is characterized by being strongly related to load pressure and being influenced by the size and direction of the movement speed.
There are several models currently available that describe the friction of hydraulic systems, however they all have a discontinuous or symmetrical character. Experimental results show that the friction force in the servo pressurization process of the motor servo type brake-by-wire system is larger than the friction force of servo decompression at the same speed, so that the real friction characteristic of the motor servo type hydraulic system cannot be accurately described by the symmetrical friction model. In addition, in the continuous discontinuous friction model, the friction force is suddenly changed at the moment of changing the speed direction, so that excessive disturbance is brought to the control of the hydraulic pressure of the system, and meanwhile, the static friction reversing mechanism of the actual system is not met.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a method and an apparatus for modeling an internal friction force of a servo-controlled hydraulic brake system, which accurately describe the friction force of the servo-controlled hydraulic brake system by establishing an asymmetric continuous pressure-dependent friction model and simultaneously suppress unnatural disturbances in a hydraulic pressure control process.
In order to realize the purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides a method for modeling an internal friction of a servo-actuated brake-by-wire system, including:
aiming at a motor servo type brake-by-wire system, establishing a continuous friction model;
and establishing a friction force calculation model based on the continuous friction model to realize dynamic friction torque measurement.
Further, aiming at the motor servo type wire control brake system, a continuous friction model is established, and the method comprises the following steps:
establishing a friction force model in a supercharging process;
establishing a friction force model in a decompression process;
and (4) comprehensively increasing and decreasing the pressure friction model to obtain a continuous friction model.
Further, establishing a friction force model of the supercharging process as follows:
T finc ＝(k inc P c +b inc )*(l inc1 [tanh(c inc1 ω)-tanh(c inc2 ω)]+l inc2 tanh(c inc3 ω)+l inc3 ω)
in the formula, k inc ,b inc Respectively slope and intercept in a linear relationship,/ inc1 ,l inc2 ,l inc3 Is the amplitude shape factor, c inc1 ,c inc2 ,c inc3 To be a position shape coefficient, ω represents the rotation speed of the servo motor.
Further, the friction force model of the decompression process is:
T fdec ＝(k dec P c +b dec )*(l dec1 [tanh(c dec1 ω)-tanh(c dec2 ω)]+l dec2 tanh(c dec3 ω)+l dec3 ω)
in the formula, k dec ,b dec Slope and intercept, respectively, in a linear relationship, l dec1 ,l dec2 ,l dec3 Is the amplitude shape factor, c dec1 ,c dec2 ,c dec3 ω represents the rotation speed of the servo motor as a position shape coefficient.
Further, the continuous friction model is:
further, a friction force calculation model is established based on the continuous friction model, and dynamic friction torque measurement is realized, wherein the method comprises the following steps:
establishing a system dynamic model facing friction torque measurement, and acquiring a friction force calculation model;
and calculating the friction torque under the current pressure and speed based on the friction force calculation model based on the actual motor current, the actual motor pressure and the angular acceleration of the motor.
Further, the friction force calculation model is:
in the formula, J eq Equivalent moment of inertia of system including motor and transmission mechanism, i is input current of servo motor, A c Is the contact area between the push rod of the main cylinder and the liquid, G is the transmission coefficient from the rotation angle of the motor to the displacement of the push rod,
is the angular acceleration of the motor, P c Is the actual pressure.
In a second aspect, the present invention provides an apparatus for modeling an internal friction of a servo-actuated brake-by-wire system, comprising:
a friction model establishing unit configured to establish a continuous friction model for the motor-servo brake-by-wire system;
and the friction torque calculation unit is configured to establish a friction force calculation model based on the continuous friction model, and realize dynamic friction torque measurement.
In a third aspect, the present invention provides an electronic device, which includes at least a processor and a memory, where the memory stores a computer program, and the processor executes the computer program to implement the method.
In a fourth aspect, the present invention provides a computer storage medium having computer-readable instructions stored thereon, the computer-readable instructions being executable by a processor to implement the method.
Due to the adoption of the technical scheme, the invention has the following advantages:
1. the invention provides a friction model with asymmetric characteristics on the basis of a symmetric brush model widely applied to rubber deformation description, which is a brand-new model for describing the internal friction of a motor servo type brake-by-wire system, can accurately describe the change relationship of the internal friction of the motor servo type hydraulic brake system along with the speed and the load pressure, simultaneously ensures the continuous change of the friction, and can inhibit the unnatural disturbance caused by the discontinuous mutation of the friction model in the hydraulic pressure control process of the system;
2. in order to accurately describe the friction characteristics of the system, the invention innovatively provides a friction model depending on continuous load based on experimental results, firstly, a linear pressure term is introduced into the amplitude of the friction model, so that the relation between the friction force and the pressure is better described, secondly, different friction parameters are designed for the pressurization and decompression processes, so that the accurate description of the friction force in the pressurization and decompression processes is ensured, and the discontinuous sudden change of the friction force in the motion reversing process is eliminated based on the brush model;
in conclusion, the invention establishes a continuous friction force model depending on the speed direction and the load pressure, and can be widely applied to pressure control.
Drawings
Various additional advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Like parts are designated with like reference numerals throughout the drawings. In the drawings:
FIG. 1 is a physical model of an electro-mechanical servo-type hydraulic brake system of an embodiment of the present invention;
FIG. 2 is a schematic diagram of experimental friction data and a fitting of the proposed model according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.
Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "upper", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.
The first embodiment is as follows: the method for modeling the internal friction of the motor servo type brake-by-wire system provided by the embodiment comprises the following steps:
s1, aiming at a motor servo type line control brake system, establishing a continuous friction model, wherein the establishing process comprises the following steps:
s11, establishing a friction force model in a pressurization process
In the motor-servo type brake-by-wire system shown in fig. 1, during the pressurization process, the servo motor generates an input torque, the input torque is transmitted through the transmission mechanism to push the main cylinder push rod to move rightwards, the main cylinder push rod pushes the piston to compress brake liquid, and the pressure of the brake liquid is increased. In this process, friction exists within the transmission and between the piston and the master cylinder wall, which is described as:
T f ＝K(P c )*T 0 (ω)(1.1)
wherein, P c The unit of hydraulic pressure in the system is MPa, omega represents the rotating speed of the servo motor, the unit is rad/s, the pressure increasing process corresponds to omega being more than 0, the pressure reducing process corresponds to omega being less than 0, T f Represents the equivalent friction torque in Nm; k (P) c ) Is an amplitude coefficient, without unit, of the system pressure P c The function of (a) is used for describing the change of the friction force along with the hydraulic pressure of the system at the same speed; t is 0 And (omega) is nominal friction torque, the unit is Nm, and the function of the rotating speed of the servo motor is used for describing the change condition of the friction force along with the rotating speed of the motor under the same pressure.
According to the experimental result, in the pressurization process and the decompression process, the corresponding amplitude coefficient K (P) and the hydraulic pressure are in a linear relation, and in the pressurization process, the amplitude coefficient is larger than that in the decompression process, and aiming at the amplitude coefficient corresponding to the pressurization process:
K(P c )＝k inc P c +b inc (1.2)
wherein k is inc ,b inc The slope and intercept in the linear relationship are shown, respectively, with units of 1/MPa and unitless, respectively.
In order to ensure the continuity of the friction force, in the present embodiment, the nominal friction torque is described as:
T inc0 (ω)＝l inc1 [tanh(c inc1 ω)-tanh(c inc2 ω)]+l inc2 tanh(c inc3 ω)+l inc3 ω(1.3)
wherein, T inc0 Nominal friction, representing the pressure increase and decrease process,/ inc1 ,l inc2 ,l inc3 Is the amplitude shape coefficient, and the unit is Nms; c. C inc1 ,c inc2 ,c inc3 Is a position shape coefficient, without unit.
According to the equations (1.2) and (1.3), the supercharging process friction force model is expressed as:
T finc ＝(k inc P c +b inc )*(l inc1 [tanh(c inc1 ω)-tanh(c inc2 ω)]+l inc2 tanh(c inc3 ω)+l inc3 ω)(1.4)
s12, establishing a friction force model in a decompression process:
in the decompression process, servo motor produces the moment of backing back, through drive mechanism conduction, and pulling master cylinder push rod removes left, and master cylinder push rod reduces the compression to brake fluid, and brake fluid pressure reduces, to the amplitude factor that the decompression process corresponds:
K(P c )＝k dec P c +b dec (1.5)
wherein k is dec ,b dec The slope and intercept are in linear relation, and the unit is 1/MPa and no unit. In order to ensure the continuity of the friction force, in the present embodiment, the nominal friction torque is described as:
T dec0 (ω)＝l dec1 [tanh(c dec1 ω)-tanh(c dec2 ω)]+l dec2 tanh(c dec3 ω)+l dec3 ω(1.6)
wherein, T dec0 Nominal friction, representing the pressure increase and decrease process,/ dec1 ,l dec2 ,l dec3 Is the amplitude shape coefficient, and the unit is Nms; c. C dec1 ,c dec2 ,c dec3 Is a position shape coefficient, without unit.
According to the formulas (1.5) and (1.6), the friction force of the decompression process can be finally expressed as
T fdec ＝(k dec P c +b dec )*(l dec1 [tanh(c dec1 ω)-tanh(c dec2 ω)]+l dec2 tanh(c dec3 ω)+l dec3 ω)(1.7)
S13, synthesizing formulas (1.4) and (1.7), and obtaining a continuous friction model as follows:
and S2, measuring the friction torque based on the continuous friction model.
S21, establishing a system dynamic model facing friction torque measurement, and obtaining a friction force calculation model
For the electromechanical servo type line control hydraulic braking system to be tested, the kinetic equation of the system can be expressed as follows:
wherein k is m Represents the current gain in Nm/A, J eq Equivalent moment of inertia of system including motor and transmission mechanism, unit is kgm 2 (ii) a i is the input current of the servo motor, and the unit is A; a. The c Is the contact area of the push rod of the main cylinder and the liquid, and has the unit of m 2 (ii) a G is the transmission coefficient from the rotation angle of the motor to the displacement of the push rod, and the unit is rad/m.
According to equation (1.9), the friction force calculation model is:
s22, measuring friction torque
In order to measure the friction force moment under different speeds and pressures, the following constant-amplitude variable-frequency sinusoidal servo motor current input commands are adopted:
i＝I m sin(kt 2 -pi/2)(1.11)
wherein k is a frequency coefficient and has no unit.
Measuring and recording the actual motor current i r In units of A, the actual pressure P c And angle of the motorThe speed ω is a value obtained by calculating the friction force at the current pressure and speed from the equation (1.10).
As shown in fig. 2, black circle points represent actual measured friction force according to the above method, and black lines represent actual friction model fitted according to the friction model (1.8) based on measured data. The fitting process is to adopt a general nonlinear fitting mode, and adopt tools including but not limited to MATLAB, python and other data fitting tools to obtain the values of all the coefficients in the friction model (1.8).
In some embodiments of the invention, fitting the amplitude coefficient K (P) c ) The collected data are divided into forward supercharging data and reverse decompression data according to the signs of the speeds (forward supercharging is positive, and reverse supercharging is negative), and linear fitting is respectively carried out on the pressure and the calculated friction force aiming at the forward supercharging data and the reverse decompression data, so that an expression (1.2) and an expression (1.5) are obtained.
In some embodiments of the invention, the nominal friction torque T is fitted 0 Dividing the collected data into forward supercharging data and reverse decompression data according to the sign of the speed, and fitting the forward supercharging data and the reverse decompression data to obtain an amplitude coefficient K (P) c ) And (4) respectively substituting the speed into the expressions (1.4) and (1.7), and carrying out nonlinear fitting on the speed and the calculated friction force in the shapes of (1.4) and (1.7), wherein the fitting method is a general nonlinear fitting method.
Example two: the first embodiment provides a method for modeling the internal friction of an electromechanical servo brake-by-wire system, and correspondingly, the first embodiment provides a device for modeling the internal friction of the electromechanical servo brake-by-wire system. The system provided by this embodiment can implement the method for modeling the internal friction of the electromechanical servo brake-by-wire system according to the first embodiment, and the apparatus can be implemented by software, hardware, or a combination of software and hardware. For convenience of description, the present embodiment is described with the functions divided into various units, which are described separately. Of course, the functions of the units may be implemented in the same software and/or hardware or in one or more pieces. For example, the apparatus may comprise integrated or separate functional modules or units to perform the corresponding steps in the methods of an embodiment. Since the system of the present embodiment is substantially similar to the method embodiment, the description process of the present embodiment is relatively simple, and reference may be made to part of the description of the first embodiment to related points.
The internal friction modeling device of the motor servo type brake-by-wire system provided by the embodiment comprises:
a friction model establishing unit configured to establish a continuous friction model for the motor-servo brake-by-wire system;
and the friction torque calculation unit is configured to establish a friction force calculation model based on the continuous friction model, and realize dynamic friction torque measurement.
Example three: the present embodiment provides an electronic device corresponding to the modeling method for an internal friction force of a servo-by-wire brake system provided in the first embodiment, where the electronic device may be an electronic device for a client, such as a mobile phone, a notebook computer, a tablet computer, a desktop computer, etc., so as to execute the method in the first embodiment.
As shown in fig. 3, the electronic device includes a processor, a memory, a communication interface, and a bus, and the processor, the memory, and the communication interface are connected by the bus to complete communication therebetween. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The memory stores a computer program executable on the processor, and the processor executes the method for modeling the internal friction of the servo-actuated brake-by-wire system according to the embodiment when executing the computer program. Those skilled in the art will appreciate that the architecture shown in fig. 3 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects may be applied, and that a particular computing device may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In some implementations, the logic instructions in the memory may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), an optical disk, and various other media capable of storing program codes.
In other implementations, the processor may be various general-purpose processors such as a Central Processing Unit (CPU), a Digital Signal Processor (DSP), and the like, and is not limited herein.
Example four: the method for modeling the internal friction of the servo-by-wire brake system according to this embodiment may be embodied as a computer program product, which may include a computer readable storage medium having computer readable program instructions embodied thereon for executing the method for modeling the internal friction of the servo-by-wire brake system according to this embodiment.
The computer readable storage medium may be a tangible device that holds and stores the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any combination of the foregoing.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the system embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and reference may be made to the partial description of the method embodiment for relevant points. In the description herein, references to the description of "one embodiment," "some implementations," or the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the specification. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks. Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (5)
1. A method for modeling internal friction of a motor servo type brake-by-wire system is characterized by comprising the following steps:
aiming at a motor servo type wire control brake system, a continuous friction model is established, and the method comprises the following steps:
establishing a friction force model in a supercharging process, which specifically comprises the following steps:
in the formula (I), the compound is shown in the specification,
slope and intercept, respectively, in a linear relationship>
Is an amplitude form factor, is asserted>
Is a position shape factor>
Representing the speed of the servo motor>
Representing hydraulic pressure within the system;
establishing a friction force model in a decompression process, specifically:
in the formula (I), the compound is shown in the specification,
respectively slope and intercept in a linear relationship>
Is an amplitude form factor, is asserted>
Is the position shape factor;
corresponding amplitude coefficient in the pressurizing process and the depressurizing process
The amplitude coefficient is greater than that in the pressure reducing process in the pressure increasing process, and the amplitude coefficient corresponding to the pressure increasing process is as follows:
corresponding amplitude coefficients for the decompression process:
the method comprises the steps of comprehensively increasing and decreasing the pressure friction model to obtain a continuous friction model, and specifically comprises the following steps:
establishing a friction force calculation model based on a continuous friction model to realize dynamic friction torque measurement, and the method comprises the following steps:
establishing a system dynamic model facing friction torque measurement, and acquiring a friction force calculation model;
calculating friction torque under the current pressure and speed based on a friction force calculation model based on the actual motor current, the actual motor pressure and the angular acceleration of the motor, fitting the actual friction model according to the continuous friction model based on measured data, wherein the fitting process adopts a general nonlinear fitting mode, and a data fitting tool is adopted to obtain the values of all coefficients in the continuous friction model.
2. The method of modeling the internal friction of an electromechanical servo-controlled brake-by-wire system according to claim 1, wherein the friction calculation model is:
in the formula (I), the compound is shown in the specification,
represents the current gain, < > or >>
Equivalent moment of inertia in a system comprising a motor and a transmission, based on the equivalent moment of inertia of the motor and the equivalent moment of inertia of the transmission>
For the input current of the servo motor>
Is the contact area of the push rod of the main cylinder and the liquid>
Is the transmission coefficient from the rotation angle of the motor to the displacement of the push rod>
Is the angular acceleration of the motor>
Representing hydraulic pressure within the system.
3. An electromechanical servo type brake-by-wire system internal friction modeling device is characterized by comprising:
a friction model establishing unit configured to establish a continuous friction model for the motor-servo brake-by-wire system, including:
establishing a friction force model in a supercharging process, specifically:
in the formula (I), the compound is shown in the specification,
respectively slope and intercept in a linear relationship>
Is an amplitude form factor, is asserted>
Is a position shape factor>
Represents the rotational speed of the servomotor>
Representing hydraulic pressure within the system; />
Establishing a friction force model in a decompression process, specifically:
the friction force model of the decompression process is as follows:
in the formula (I), the compound is shown in the specification,
slope and intercept, respectively, in a linear relationship>
Is a magnitude shape coefficient>
Is the position shape factor;
corresponding amplitude coefficient in the pressurizing process and the depressurizing process
The amplitude coefficient is greater than that in the pressure reducing process in the pressure increasing process, and the amplitude coefficient corresponding to the pressure increasing process is as follows:
corresponding amplitude coefficients for the decompression process:
the method comprises the steps of comprehensively increasing and decreasing the pressure friction model to obtain a continuous friction model, and specifically comprises the following steps:
a friction torque calculation unit configured to establish a friction force calculation model based on the continuous friction model, and to realize dynamic friction torque measurement, including:
establishing a system dynamic model facing friction torque measurement, and acquiring a friction force calculation model;
calculating friction torque under the current pressure and speed based on a friction force calculation model based on the actual motor current, the actual motor pressure and the angular acceleration of the motor, fitting the actual friction model according to the continuous friction model based on measured data, wherein the fitting process adopts a general nonlinear fitting mode, and a data fitting tool is adopted to obtain the values of all coefficients in the continuous friction model.
4. An electronic device comprising at least a processor and a memory, the memory having stored thereon a computer program, characterized in that the processor, when executing the computer program, executes to carry out the method of any of claims 1 to 2.
5. A computer storage medium having computer readable instructions stored thereon which are executable by a processor to implement the method of any one of claims 1 to 2.
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| JP7293905B2 (en) * | 2019-06-24 | 2023-06-20 | 富士電機株式会社 | friction compensator |
| CN110515302B (en) * | 2019-08-13 | 2022-04-15 | 西安理工大学 | Reverse step self-adaptive neural network control method for hydraulic position servo system |
| CN112179551B (en) * | 2020-08-20 | 2021-06-22 | 清华大学 | Synchronous testing method and device for torque coefficient and friction force of joint motor of robot |
| CN112721895B (en) * | 2021-01-26 | 2022-02-18 | 同济大学 | IEHB system master cylinder hydraulic pressure estimation method based on friction model |
| CN113420455B (en) * | 2021-07-06 | 2022-06-14 | 同济大学 | Main cylinder hydraulic pressure estimation method based on EHB (electric hydraulic brake) self characteristics |
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