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

Abstract EN

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.