Parameter identification of LuGre model based on analysis of steady state error

TAN Wen-bin; LI Xing-fei; XIANG Hong-biao; ZHU Jia; ZHANG Chen-yang

doi:10.3788/OPE.20111903.0664

您当前的位置：

首页 >

文章列表页 >

Parameter identification of LuGre model based on analysis of steady state error

Article | 更新时间：2020-08-12

- Parameter identification of LuGre model based on analysis of steady state error
- Optics and Precision Engineering Vol. 19, Issue 3, Pages: 664-671(2011)
- 作者机构：
  
  1. 天津大学精密测试技术及仪器国家重点实验室,天津 300072
  2. 天津理工大学机械工程学院,天津 300384
  3. 天津商业大学机械工程学院,天津 300131
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20111903.0664
  CLC： TP273;TP391
- Received：19 October 2010，
  
  Revised：17 November 2010，
  
  Published Online：22 March 2011，
  
  Published：22 March 2011
- 稿件说明：
移动端阅览
谭文斌, 李醒飞, 向红标, 朱嘉, 张晨阳. 应用稳态误差分析辨识LuGre模型参数[J]. 光学精密工程, 2011,19(3): 664-671

TAN Wen-bin, LI Xing-fei, XIANG Hong-biao, ZHU Jia, ZHANG Chen-yang. Parameter identification of LuGre model based on analysis of steady state error[J]. Editorial Office of Optics and Precision Engineering, 2011,19(3): 664-671
谭文斌, 李醒飞, 向红标, 朱嘉, 张晨阳. 应用稳态误差分析辨识LuGre模型参数[J]. 光学精密工程, 2011,19(3): 664-671 DOI： 10.3788/OPE.20111903.0664.

TAN Wen-bin, LI Xing-fei, XIANG Hong-biao, ZHU Jia, ZHANG Chen-yang. Parameter identification of LuGre model based on analysis of steady state error[J]. Editorial Office of Optics and Precision Engineering, 2011,19(3): 664-671 DOI： 10.3788/OPE.20111903.0664.

摘要

为精确得到模型的动静态参数

提出了以稳态误差分析为基础的模型参数辨识方法。首先

确立了伺服系统的稳态误差与其输入信号、干扰信号的关系

并以此为基础消除了转矩纹波对摩擦模型参数辨识的干扰;然后

利用稳态误差推导摩擦力矩

采用遗传算法辨识动静态参数;最后

利用辨识后的模型进行摩擦补偿

分析其补偿效果。实验结果表明

补偿后的稳态误差明显减小

匀速运动时由36 m减小到3 m

匀加速运动时由34 m减小到3 m

正弦运动时由35 m减小到7 m。本文提出的辨识方法能够精确地得到LuGre摩擦模型的动静态参数。基于辨识后的模型可有效地提高伺服系统的跟踪精度。

Abstract

To get accurate parameters in both static and dynamic models

an identification method of model parameters based on the analysis of steady state error was presented. Firstly

the relationship between steady state errors and input and interference signals in a servo system was determined

and the influence of torque ripples on the parameter identification was eliminated based on the study above. Then

the friction torque was deduced by using the steady state error

and the static and dynamic parameters were identified through the genetic algorithm. Finally

the friction torque was compensated according to the identified model

and the compensated effect was analyzed. The experimental results show that the steady state error of uniform motion has decreaseed from 36 m to 3 m

that of uniformly accelerated motion decreased from 34 m to 3 m

and that of sinusoidal motion decreased from 35 m to 7 m. It concludes that the dynamic and static parameters of LuGre can be precisely obtained by this identification method

and the tracking accuracy of the servo system can also be improved through friction compensation on the basis of the proposed model.

关键词

Keywords

references

向红标,裘祖荣,李醒飞,等. 精密实验平台的非线性摩擦建模与补偿[J]. 光学精密工程,2010,18(5):1119-1127. XIANG H B, QIU Z R, LI X F, et al.. Nonlinear friction modeling and compensation of high-precision experimental platforms[J]. Opt. Precision Eng., 2010, 18(5):1119-1127. (in Chinese)[2] 刘强,尔联洁,刘金琨. 摩擦非线性环节的特性、建模与控制补偿综述[J]. 系统工程与电子技术,2002,24(11):45-52. LIU Q, ER L J, LIU J K. Overview of characteristics,modeling and compensation of nonlinear friction in servo systems[J]. Systems Engineering and Electronics, 2002, 24(11):45-52. (in Chinese)[3] 陈涛,陈娟,蒋风华. 伺服系统两种低速非线性补偿方法的对比实验[J]. 光学精密工程,2003,11(1):94-97. CHEN T, CHEN J, JIANG F H. Two low-speed nonlinear compensations for servo system[J]. Opt. Precision Eng., 2003,11(1):94-97. (in Chinese)[4] 裘著燕,张涛,路长厚. 数控伺服进给系统中摩擦补偿控制研究进展[J]. 现代制造工程,2006(1):21-25. XI ZH Y, ZHANG T, LU CH H. Overview of friction compensation control in table servo feed systems of CNC tools[J]. Modern Manufacturing Engineering, 2006(1):21-25. (in Chinese)[5] 卢礼华,郭永丰,大刀川博之,等. 高增益PID控制器实现纳米定位[J]. 光学精密工程,2007,15(1):63-68. LU L, GUO Y, TACHIKAWA, et al.. High-gain PID controller for nanometer positioning[J]. Opt. Precision Eng., 2007,15(1):63-68. (in Chinese)[6] RABINOWICA E. Friction and Wear of Materials[M]. New York: Wiley, 1995.[7] 刘丽兰,刘宏昭,吴子英,等. 机械系统中摩擦模型的研究进展[J]. 力学进展,2008,38(2):201-213. LIU L L, LIU H ZH, WU Z Y, et al.. An overview of friction models in mechanical systems[J]. Advances in Mechanics, 2008,38(2):201-213. (in Chinese)[8] STRIBECK R. Die wesentlichen eigenschaften der gleit-und rollenlager-the key qualities of sliding and roller bearings[J]. Zeitschrift des Vereins Deutscher Ingenieure, 1902,46(38-39):1342-1348,1432-1437.[9] 孙洪鑫,王修勇,陈政清. 基于改进遗传算法的LuGre模型参数辨识[J]. 武汉理工大学学报,2009,31(23):113-117. SUN H X, WANG X Y, CHEN ZH Q. Parameter identification of LuGre model with improved genetic algorithms[J]. Journal of Wuhan University of Technology, 2009,31(23):113-117. (in Chinese)[10] ZHANG W J. Parameter identification of LuGre friciton model in servo system based on improved particle swarm optimmization algorithm . Proceeding of the 26th Chinese Control Conference, 2007:135-139.[11] CANUDAS C. A new model for contml of systems with friction[J]. IEEE Tran. on Automatic Control, 1995,40(3):419-425.[12] 袭著燕. 基于信号特征的数控交流伺服进给系统摩擦建模与补偿研究 . 济南:山东大学,2006. XI ZH Y. Study on friction modeling and compensation on an AC servo feed system based on signal feature . Jinan: Shandong University, 2006. (in Chinese)[13] 陈剑锋,刘昊,陶国良. 基于LuGre摩擦模型的气缸摩擦力特性实验[J]. 兰州理工大学学报,2010,36(3):55-59. CHEN J F, LIU H, TAO G L. Experiment on friction characteristics of pneumatic cylinders base on LuGre model[J]. Journal of Lanzhou University of Technology, 2010,36(3):55-59. (in Chinese)

Views

341

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Identification and compensation of friction for modular joints based on grey wolf optimizer

Identification method of micro-vibration parameters of satellite reaction wheelsunder continuous rotating speed

Parameter calibration of 6-dof parallel mechanism using orthogonal displacement measurement system

Fractional order modeling and experimental verification of hysteresis nonlinearities in piezoelectric actuators

Rate-dependent dynamic hysteresis modeling of piezoelectric micro platform and its parameter identification

Related Author

Zhen-bang XU

Ming-chao ZHU

En-yang ZHANG

Hua-yang SAI

Jing-kai CUI

Lin YANG

Yan-song WANG

Lei WEI

Related Institution

Center of Materials Science and Optoelectronics Engineering， University of Chinese Academy of Sciences

University of Chinese Academy of Sciences

Changchun Institute of Optics，Fine Mechanics and Physics，Chinese Academy of Sciences

Institute of Space Sciences， Shandong University

Institute of Frontier and Interdisciplinary， Shandong University

AI问答

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰