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Mathematical Problems in Engineering
Volume 2016, Article ID 6929457, 8 pages
Research Article

Dynamic Friction Parameter Identification Method with LuGre Model for Direct-Drive Rotary Torque Motor

School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China

Received 2 December 2015; Revised 22 February 2016; Accepted 6 March 2016

Academic Editor: Roque J. Saltarén

Copyright © 2016 Xingjian Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Attainment of high-performance motion/velocity control objectives for the Direct-Drive Rotary (DDR) torque motor should fully consider practical nonlinearities in controller design, such as dynamic friction. The LuGre model has been widely utilized to describe nonlinear friction behavior; however, parameter identification for the LuGre model remains a challenge. A new dynamic friction parameter identification method for LuGre model is proposed in this study. Static parameters are identified through a series of constant velocity experiments, while dynamic parameters are obtained through a presliding process. Novel evolutionary algorithm (NEA) is utilized to increase identification accuracy. Experimental results gathered from the identification experiments conducted in the study for a practical DDR torque motor control system validate the effectiveness of the proposed method.