Fig 1.
Traditional Stribeck friction model.
Fig 2.
Basic principles of system identification.
Fig 3.
LuGre model parameter identification flow chart.
Fig 4.
Comparison curve of objective function (J).
Fig 5.
LuGre parameter identification convergence process.
Fig 6.
Comparison curve of objective function ().
Fig 7.
Comparison of different objective function value curves.
Fig 8.
Flow chart of improved annealing genetic synthesis algorithm.
Fig 9.
High precision open servo platform system structure.
Fig 10.
Physical picture of linear motor platform: 1-Gantry linear motor platform; 2-Linear motor servo drive; 3- industrial control computer.; 4-X-axis grating ruler displacement sensor; 5-X-axis motor; 6- industrial control computer; 7- Y-axis grating ruler displacement sensor.
Fig 11.
Simulation and experimental research route.
Fig 12.
Friction-velocity relationship curve.
Fig 13.
Sinusoidal signal simulation.
Fig 14.
Estimation of load changes.
Fig 15.
Friction compensation simulation.
Fig 16.
System response curve.
Table 1.
LuGre friction model parameters.
Fig 17.
Comparison results of different speeds and friction torques.
Fig 18.
Feedforward friction compensation model.
Fig 19.
Speed tracking curve before and after friction compensation.
Fig 20.
Position tracking curve before and after friction compensation.
Fig 21.
Control shear force and control force of identification values.
Fig 22.
Friction, control force and displacement loop of identification value.