光电稳定平台伺服系统动力学建模与参数辨识

廖洪波; 范世珣; 黑墨; 范大鹏

doi:10.3788/OPE.20152302.0477

您当前的位置：

首页 >

文章列表页 >

光电稳定平台伺服系统动力学建模与参数辨识

微纳技术与精密机械 | 更新时间：2020-08-13

- 光电稳定平台伺服系统动力学建模与参数辨识
- Modeling and parameter identification for electro-optical stabilized platform servo systems
- 光学精密工程 2015年23卷第2期页码：477-484
- 作者机构：
  
  国防科学技术大学机电工程与自动化学院,湖南长沙,410073
- 作者简介：
- 基金信息：
  
  国家自然科学基金资助项目(No.51135009)()
- DOI：10.3788/OPE.20152302.0477
  中图分类号： TP273
- 收稿日期：2014-07-27，
  
  修回日期：2014-08-20，
  
  纸质出版日期：2015-02-25
- 稿件说明：
移动端阅览
廖洪波, 范世珣, 黑墨等. 光电稳定平台伺服系统动力学建模与参数辨识[J]. 光学精密工程, 2015,23(2): 477-484

LIAO Hong-bo, FAN Shi-xun, Hei Mo etc. Modeling and parameter identification for electro-optical stabilized platform servo systems[J]. Editorial Office of Optics and Precision Engineering, 2015,23(2): 477-484
廖洪波, 范世珣, 黑墨等. 光电稳定平台伺服系统动力学建模与参数辨识[J]. 光学精密工程, 2015,23(2): 477-484 DOI： 10.3788/OPE.20152302.0477.

LIAO Hong-bo, FAN Shi-xun, Hei Mo etc. Modeling and parameter identification for electro-optical stabilized platform servo systems[J]. Editorial Office of Optics and Precision Engineering, 2015,23(2): 477-484 DOI： 10.3788/OPE.20152302.0477.

摘要

针对光电稳定平台伺服系统模型参数辨识问题

提出了线性和非线性模型参数分离辨识方法。在线性模型参数辨识过程中

利用差动逆

序列信号作为输入

相应的响应信号作为输出

并应用最小二乘方法辨识线性离散模型参数

从而降低非线性因素的影响。在非线性模型参数辨识过程中

以LuGre摩擦模型为基础

针对摩擦和不平衡质量相互耦合的问题

提出了考虑不平衡质量的LuGre模型静态参数辨识方法;然后

利用电流信号作为摩擦力测量值

对LuGre模型动态参数进行辨识

得到包含不平衡质量和动态摩擦的系统非线性部分模型参数。构建了单轴光电稳定平台实验系统

利用本文提出的方法对实验系统动力学模型参数进行了辨识。结果表明:质量不平衡力矩的辨识值为0.183 N·m

略高于理论值0.18 N·m

满足辨识精度要求。实验证实提出的辨识方法可以实现对模型线性与非线性参数的有效辨识。

Abstract

A separated model parameter identification method for electro-optical stabilized platform servo systems was presented. The model of servo systems was separated into a linear part and a nonlinear part. In the process of parameter identification of the linear model

a differential inverse

sequence signal was utilized to excited servo systems

and least square method was used to identify the parameters of the linear discrete model part to reduce the influence of the nonlinear dynamics. In the process of parameter identification of the nonlinear model

the coupling dynamics between friction and unbalanced mass was considered

and the static parameters of the LuGre model and the parameters of the unbalanced mass model were firstly identified by using the least square method; Then

the dynamic parameters of the LuGre model were obtained by friction measurement through a current signal. An experimental system for single-axis electro-optical stabilized platform was constructed

and the dynamic model parameters were indentifies by proposed method. Experimental results indicate that the identification value of unbalanced mass torque is 0.183 N·m

which is a little larger than the theoretic value 0.18 N·m

and satisfied with the identification precision. So the parameters of linear and nonlinear models can be obtained by the presented identification method.

关键词

Keywords

references

TOLGAY K, lYAS E. Nonlinear modeling and identi cation of a DC motor for bidirectional operation with real time experiments [J]. Energy Conversion and Management, 2004,45(7): 1087-1106.

LIAO H B, FAN SH X, HEI M, et al.. Research on modeling and simulation analysis of direct drive system in simulink and simscape environment [J]. Key Engineering Materials, 2013, 579: 699-705.

刘栋,陶涛,梅雪松.伺服系统Hammerstein非线性模型及参数辨识方法研究[J].西安交通大学学报,2010,44(3):42-46.

LIU D, TAO T, MEI X S. Nonlinear hammerstein model and parameter identification for servo drive system [J]. Journal of Xi’an Jiaotong University, 2010, 44(3): 42-46. (in Chinese)

ARMSRONG H B, DUPONT P, CANUDAS D W. A survey of models analysis tools and compensation methods for the control of machines with friction [J]. Automatica, 1994, 30(7): 1083-1138.

LI ZH Q, ZHANG ZH Y, ZHOU Q K, et al.. Parameter identification of inertially stabilized platforms using current command design[J]. Journal of Central South University, 2013, 20(2): 342-353.

朱华征,范大鹏,张文博,等.质量不平衡力矩对导引头伺服机构性能影响分析[J].红外与激光工程,2009,38(5):767-772.

ZHU H ZH, FAN D P, ZHANG W B, et al.. Analysis of seeker gimbal performance with mass imbalance torque [J]. Infrared and Laser Engineering, 2009, 38(5):767-772. (in Chinese)

MCKERLEV C W. A model for a two degree of freedom coupled seeker with mass imbalance [C]. IEEE Transaction on Control Systems Technology, IEEE, 1996: 84-87.

CANUDAS D W, HENRIK O, KARL J A, et al.. A new model for control of systems with friction [J]. IEEE Trans. Autom. Control, 1995, 3(40): 419-425.

LI ZH Q, FAN D P, FAN SH X. LuGre-model-based friction compensation in direct-drive inertially stabilization platforms [C]. 6th IFAC Symposium on Mechatronic Systems 2013, China, 2013: 636-642.

刘栋,陶涛,梅雪松,等.伺服系统线性特性和非线性摩擦的解耦辨识方法研究[J].仪器仪表学报,2010, 31(4):782-788.

LIU D, TAO T, MEI X S, et al.. Study on the decoupling identification method of linear dynamic and nonlinear friction for servo drive system [J]. Chinese Journal of Scientific Instrument, 2010, 31(4): 782-788. (in Chinese)

CHEN Y Y, HUANG P Y, YEN J Y. Frequency-domain identification algorithms for servo systems with friction [J]. Transactions on Control Systems Technology, 2002, 10(5): 654-664.

王帅,陈涛,李洪文,等.光电跟踪伺服系统的频率特性测试与模型辨识[J].光学精密工程,2009, 17(1):79-83.

WANG SH, CHEN T, LI H W, et al.. Frequency characteristic test and model identification for OE tracking servo system [J]. Opt. Precision Eng., 2009,17(1):79-83. (in Chinese)

秦来安,候再红,吴毅.光电跟踪架传递函数辨识方法及应用[J].红外与激光工程,2012, 41(10):2810-2816.

QIN L A, HOU Z H, WU Y. Transfer function identification method and its application in photoelectrical tracking system[J]. Infrared and Laser Engineering, 2012, 41(10): 2810-2816. (in Chinese)

FAIRWEATHER A J,FOSTER M P,STONE D A. Battery parameter identi cation with Pseudo Random Binary Sequence excitation (PRBS) [J]. Journal of Power Sources, 2011, 196(15): 9398-9406.

ERKORKMAZ K, ALTINTAS Y. High speed CNC system design. Part II: Modeling and identification of feed drives [J]. International Journal of Machine Tools & Manufacture, 2001, 41(10):1487-1509.

FAN SH X, FAN D P, ZHANG ZH Y, et al.. Modeling and identification of high speed high accuracy lightweight stages with flexible arms [J]. Key Engineering Materials, 2012, 499: 247-252.

FAN SH X, FAN D P, HONG H J, et al.. Robust tracking control for micro machine tools with load uncertainties[J]. Journal of Central South University, 2012, 19(1): 117-127.

浏览量

1159

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

基于LuGre模型实现精密伺服转台摩擦参数辨识及补偿

基于灰狼算法的模块化关节摩擦辨识和补偿

连续转速状态下卫星反作用飞轮微振动参数识别

利用正交位移测量系统进行六自由度并联机构参数标定

压电驱动器迟滞非线性的分数阶建模及实验验证