Abstract:Aimed at the tough problem of identifying LuGre friction model parameters, a novel and fast parameters identification method was proposed for obtaining of the model in onetime. A singleinputoutput system based on LuGre model was constructed, in which speed was used as input and friction as output. Accordingly, discrete recursive equations of LuGre model were solved, and the problem of effective detecting mane micro displacement was discussed. Based on it, experiments on given LuGre model using genetic algorithm were conducted. For the onetime identification, six parameters within the LuGre model were identified with the maximum error of 0419% and quite high accuracy. Through comparing the identified parameters and specified ones by SIMULINK, this system shows a high accuracy of the identified parameters approached to the original data. The maximum torque error is only 014 N·m, which has verified the effectiveness of this novel identification method.
