A Review of Key Technologies for Friction Nonlinearity in an Electro-Hydraulic Servo System
Bingwei Gao,
Wei Shen,
Lintao Zheng,
Wei Zhang,
Hongjian Zhao
Affiliations
Bingwei Gao
Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, College of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China
Wei Shen
Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, College of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China
Lintao Zheng
Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, College of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China
Wei Zhang
Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, College of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China
Hongjian Zhao
Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, College of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China
In a high-precision servo system, the nonlinear friction link is the key factor affecting the system performance. Reasonable solving of the friction link in servo systems has become a focus of current research. This paper summarizes the friction nonlinearity that affects the control performance of servo systems. First, the characteristics of friction are summarized, and the advantages and disadvantages of typical friction models in recent years are analyzed. Subsequently, existing friction model parameter identification methods are introduced and evaluated. On this basis, the development level of the friction nonlinear control strategy is analyzed from three aspects: friction model-based control, friction model-free control, and compound control. Finally, the objective advantages and disadvantages of the existing technology are summarized, and the future development direction of the friction model and selection reference for the nonlinear friction control strategy are comprehensively discussed.
