Original scientific paper

https://doi.org/10.17559/TV-20190728151930

An Angular Position-Based Two-Stage Friction Modeling and Compensation Method for RV Transmission System

Chao Qi* ; College of Artificial Intelligence, National University of Defense Technology, Deya Road No. 109, Kaifu District, Changsha 410073, China
Xianliang Jiang ; College of Artificial Intelligence, National University of Defense Technology, Deya Road No. 109, Kaifu District, Changsha 410073, China
Hongbo Liao ; Northwest Institute of Nuclear Technology, Pingyu Road No. 28, Lingtong District, Xi'an 710024, China
Dapeng Fan ; College of Artificial Intelligence, National University of Defense Technology, Deya Road No. 109, Kaifu District, Changsha 410073, China
Sheng Zhang ; College of Information and Communication, National University of Defense Technology, Jiefanggongyuan Road No. 45, Jiang’an District, Wuhan 430010, China

Abstract

In RV transmission system (RVTS), friction is closely related to rotational speed and angular position. However, classical friction models do not consider the influence of angular position on friction, resulting in limited accuracy in describing the RVTS frictional behavior. For this reason, this paper proposes an angular position-based two-stage friction model for RVTS, and achieves a more accurate representation of friction of RVTS. The proposed model consists of two parts, namely pre-sliding model and sliding model, which are divided by the maximum elastic deformation recovery angle of RVTS obtained from loading-unloading tests. The pre-sliding friction behavior is regarded as a spring model, whose stiffness is determined by the angular position and the acceleration when the velocity crosses zero, while the sliding friction model is established by the angular-segmented Stribeck function, and the friction parameters of the adjacent segment are linearly smoothed. A feedforward compensation based on the proposed model was performed on the RVTS, and its control performance was compared with that using the classical Stribeck model. The comparison results show that when using the proposed friction model, the low-speed-motion smoothness of the RVTS can be improved by 14.2%, and the maximum zero-crossing speed error can be reduced by 37.5%, which verifies the validity of the proposed friction model, as well as the compensation method.

Keywords

angular position; friction modeling; low-speed-motion smoothness; maximum elastic deformation recovery angle; RV transmission system (RVTS); zero-crossing speed error

Hrčak ID:

228521

URI

https://hrcak.srce.hr/228521

Publication date:

27.11.2019.

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