应用稳态误差分析辨识LuGre模型参数

谭文斌; 李醒飞; 向红标; 朱嘉; 张晨阳

doi:10.3788/OPE.20111903.0664

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应用稳态误差分析辨识LuGre模型参数

信息科学 | 更新时间：2020-08-12

- 应用稳态误差分析辨识LuGre模型参数
- Parameter identification of LuGre model based on analysis of steady state error
- 光学精密工程 2011年19卷第3期页码：664-671
- 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：
  
  国家自然科学基金资助项目(No.50975206)()
- DOI：10.3788/OPE.20111903.0664
  中图分类号： TP273;TP391
- 收稿日期：2010-10-19，
  
  修回日期：2010-11-17，
  
  网络出版日期：2011-03-22，
  
  纸质出版日期：2011-03-22
- 稿件说明：
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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

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