基于LuGre模型实现精密伺服转台摩擦参数辨识及补偿

于伟; 马佳光; 李锦英; 肖靖

doi:10.3788/OPE.20111911.2736

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基于LuGre模型实现精密伺服转台摩擦参数辨识及补偿

微纳技术与精密机械 | 更新时间：2020-08-12

- 基于LuGre模型实现精密伺服转台摩擦参数辨识及补偿
- Friction parameter identification and friction compensation for precision servo turning table
- 光学精密工程 2011年19卷第11期页码：2736-2743
- 作者机构：
  
  1. 中国科学院光电技术研究所成都,610209
  2. 中国科学院研究生院
  3. 中国科学院光束控制重点实验室,四川成都,610209
  4. 徐州空军学院,江苏徐州,221000
- 作者简介：
- 基金信息：
  
  国家863高技术研究发展计划资助项目(No.2008AA8020205)()
- DOI：10.3788/OPE.20111911.2736
  中图分类号： TP273
- 收稿日期：2011-05-03，
  
  修回日期：2011-06-21，
  
  网络出版日期：2011-11-25，
  
  纸质出版日期：2011-11-25
- 稿件说明：
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于伟, 马佳光, 李锦英, 肖靖. 基于LuGre模型实现精密伺服转台摩擦参数辨识及补偿[J]. 光学精密工程, 2011,19(11): 2736-2743

YU Wei, MA Jia-guang, LI Jin-ying, XIAO Jing. Friction parameter identification and friction compensation for precision servo turning table[J]. Editorial Office of Optics and Precision Engineering, 2011,19(11): 2736-2743
于伟, 马佳光, 李锦英, 肖靖. 基于LuGre模型实现精密伺服转台摩擦参数辨识及补偿[J]. 光学精密工程, 2011,19(11): 2736-2743 DOI： 10.3788/OPE.20111911.2736.

YU Wei, MA Jia-guang, LI Jin-ying, XIAO Jing. Friction parameter identification and friction compensation for precision servo turning table[J]. Editorial Office of Optics and Precision Engineering, 2011,19(11): 2736-2743 DOI： 10.3788/OPE.20111911.2736.

摘要

为降低摩擦对光学精密伺服转台速度跟踪精度的影响

提出了基于LuGre模型的转台摩擦参数辨识和补偿方法。首先

分析转台在自由减速过程中的速度过零现象

采用遗传算法拟合减速曲线从而获得转台摩擦参数和转动惯量;然后

通过仿真实验验证辨识方法;最后

利用辨识得到的参数计算摩擦补偿并叠加到转台速度伺服系统。实际实验系统的数据更新率达1 kHz

已实现了速度-电流双闭环控制。实际拟合实验中

拟合与实测速度曲线的误差均方差为2.910

-3

rad/s;速度跟踪实验中

对于幅值为0.032 4 rad/s

频率为0.5 Hz的给定正弦信号

摩擦补偿消除了波形失真

系统速度跟踪误差的均方差减少27%。实验表明

用该方法测量转台摩擦参数精确度高

基于辨识参数的摩擦补偿可提高光学伺服转台低速低频段的速度跟踪精度。

Abstract

To decrease the influence of friction on the angular speed tracking accuracy of a precision servo turning table

the methods of friction parameter identification and friction compensation based on the LuGre model was put forward. Firstly

the angular speed over zero phenomenon occurred in the angular speed free reduction was analyzed

and the genetic algorithm was used to fit the angular speed reduction curve to obtain LuGre model parameters and rotational inertia. Then

the parameter identification method was tested and verified by a simulation experiment. Finally

the friction compensation was computed by identfication parameters and was added to the angular speed tracking system of the turning table . The actual experimental system achieves a angular speed loop and a current loop and its data update rate is 1 kHz. In the actual angular speed measuring experiment

the mean square deviation of error between actual angular speed curve and fitting curve is 2.910

-3

rad/s. In the angular speed tracking experiment

when the given signal is sine wave with an amplitude of 0.032 4 rad/s and frequency of 0.5 Hz

friction compensation can eliminate the waveform distortion

and the mean square deviation of angular speed tracking error has decreased by 27% as compared with that of double loops control system without friction compensation. It is concluded that the friction parameter identification method can obtain high accurate parameters

and can improve the angular speed tracking accuracy of servo turning tables prominently.

关键词

Keywords

references

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