CAJ | 학술논문

因电子驻车制动系统中的丝杆螺母机构和行星齿轮机构中存在较高的非线性摩擦特性，提出一种基于LuGre动态摩擦模型的方法来描述系统机械部件的摩擦特性。考虑到机械机构的形位、安装误差、表面粗糙度不均匀及环境温度变化等条件的影响，参数会随之变化，设计了自适应摩擦补偿控制器，并采用Lyapunov稳定性理论证明了系统的全局稳定性。利用Simulink对电子驻车制动系统进行了仿真，证明了该方法的有效性。
인전자주차제동계통중적사간라모궤구화행성치륜궤구중존재교고적비선성마찰특성，제출일충기우LuGre동태마찰모형적방법래묘술계통궤계부건적마찰특성。고필도궤계궤구적형위、안장오차、표면조조도불균균급배경온도변화등조건적영향，삼수회수지변화，설계료자괄응마찰보상공제기，병채용Lyapunov은정성이론증명료계통적전국은정성。이용Simulink대전자주차제동계통진행료방진，증명료해방법적유효성。
Because of the existence of nonlinear friction in the screw‐nut mechanism and planetary gear mechanism ,a method had been proposed to describe the friction feature based on the LuGre dynamic friction model .Concerning the position change of the mechanism ,asymmetrical surface roughness and the influence of environmental temperature variation ,the parameters in friction model may change as well .To improve such phenomenon ,it designed an adaptive friction compensation controller and used the Stability Theory of Lyapunov to prove the global stability of the system .Finally ,the effectiveness of this method had been verified by the simulation of the electrical parking brake system .