Identification and compensation of nonlinearity for electromechanical actuator servo system

XIAO Qian-jin; JIA Hong-guang; ZHANG Jia-bao; HAN Xue-feng; XI Rui

doi:10.3788/OPE.20132108.2038

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Identification and compensation of nonlinearity for electromechanical actuator servo system

更新时间：2020-08-12

- Identification and compensation of nonlinearity for electromechanical actuator servo system
- Optics and Precision Engineering Vol. 21, Issue 8, Pages: 2038-2047(2013)
- 作者机构：
  
  1. 中国科学院长春光学精密机械与物理研究所,吉林长春,中国,130033
  2. 中国科学院大学北京,中国,100049
  3. 武汉第二船舶设计研究所,湖北武汉,430064
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20132108.2038
  CLC： TP273;V421.6
- Received：02 July 2012，
  
  Revised：21 August 2012，
  
  Published Online：20 August 2013，
  
  Published：15 August 2013
- 稿件说明：
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肖前进贾宏光章家保韩雪峰席睿. 电动舵机伺服系统非线性辨识及补偿[J]. 光学精密工程, 2013,21(8): 2038-2047

XIAO Qian-jin JIA Hong-guang ZHANG Jia-bao HAN Xue-feng XI Rui. Identification and compensation of nonlinearity for electromechanical actuator servo system[J]. Editorial Office of Optics and Precision Engineering, 2013,21(8): 2038-2047
肖前进贾宏光章家保韩雪峰席睿. 电动舵机伺服系统非线性辨识及补偿[J]. 光学精密工程, 2013,21(8): 2038-2047 DOI： 10.3788/OPE.20132108.2038.

XIAO Qian-jin JIA Hong-guang ZHANG Jia-bao HAN Xue-feng XI Rui. Identification and compensation of nonlinearity for electromechanical actuator servo system[J]. Editorial Office of Optics and Precision Engineering, 2013,21(8): 2038-2047 DOI： 10.3788/OPE.20132108.2038.

摘要

为提高电动舵机伺服系统的跟踪精度，提出了辨识、测试摩擦和间隙非线性及对其进行补偿的方法。针对位置和速度双闭环控制的电动舵机伺服系统，建立了基于LuGre摩擦和迟滞间隙的数学模型；依据模型采用前馈补偿方法对系统中的摩擦进行补偿，同时采用逆模型方法对系统中的间隙进行补偿控制。实验显示，对于幅值为1，频率为2.5 Hz的给定正弦信号，补偿后系统的最大位置跟踪误差由原来的0.166减小到了0.096，最大速度跟踪误差由原来的2.723 r/min减小到了0.393 r/min。结果表明，本文提出的辨识测试方法能够精确地获得摩擦和间隙模型，基于该模型的补偿能够有效地提高电动舵机伺服系统的跟踪精度。

Abstract

To improve the tracking accuracy of an electromechanical actuator servo system

the methods to identify and compensate the noninearities of friction and backlash were put forward. The mathematical models based on the LuGre friction and the hysteresis backlash were established for the electromechanical actuator servo system with position loop and speed loop controllers. According to the identified nonlinearity models

the friction was compensated though a feed-forward method

and the backlash was compensated simultaneously though an inverse model as well. The experiments indicate that the maximum position tracking error of system after compensation decreases from 0.166 to 0.096

and the maximum speed tracking error decreases from 2.723 r/min to 0.393 r/min when the given signal is sine wave with an amplitude of 1 and a frequency of 2.5 Hz. It concluds that the friction and backlash models can be accurately obtained by the proposed identification methods

and the tracking accuracy of the electromechanical actuator servo system can be improved through nonlinearity compensation on the basis of the proposed models.

关键词

Keywords

references

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