二次调节主动升沉补偿实验平台的摩擦辨识与补偿控制

以二次调节主动升沉补偿实验平台为研究对象,针对系统中存在的非线性摩擦转矩,提出摩擦辨识及补偿方案。首先,选用Stribeck模型描述系统摩擦,建立了包含非线性摩擦转矩的平台数学模型;其次,根据平台特点设计摩擦辨识策略,使用最小二乘算法辨识得到未知系统参数,在此基础上拟合Stribeck曲线获取摩擦模型参数;然后,通过摩擦前馈和非线性PID实现摩擦补偿控制,提高升沉补偿精度;最终,实验验证了所提方案的有效性。

Identification and Compensation Control of Friction in Secondary Regulation Active Heave Compensation Experimental Platform

Taking the secondary regulation active heave compensation experimental platform as the researchobject,aiming at the nonlinear friction torque in the system,the friction identification and compensationscheme are designed.Firstly,the Stribeck model is used to describe the system friction,and the mathematicalmodel of the platform including nonlinear friction torque is established.Secondly,the friction identificationmethod is designed according to the characteristics of the platform,and the unknown system parametersare identified by the least square algorithm.On this basis,the friction model parameters are obtainedby fitting the Stribeck curve.Thirdly,the friction compensation control is realized through frictionfeedforward and nonlinear PID controller to improve the accuracy of heave compensation.Finally,experimentresults verify the effectiveness of the proposed scheme.