| 基于LuGre模型的伺服系统摩擦补偿策略研究 |
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| 引用本文： | 叶超,崔宁豪,马正雷,林德银,王群京.基于LuGre模型的伺服系统摩擦补偿策略研究[J].微电机,2019(5):53-56. |
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| 作者姓名： | 叶超 崔宁豪 马正雷 林德银 王群京 |
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| 作者单位： | 中国电子科技集团公司第三十八研究所;安徽大学高节能电机及控制技术国家地方联合实验室;上海鹰觉科技有限公司;安徽大学教育部电能质量工程研究中心 |
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| 基金项目： | 国家自然科学基金资助项目(51507001,51637001) |
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| 摘 要： | 利用摩擦力LuGre模型能很好地诠释摩擦力的动静态特性。本研究首先采用遗传算法辨识Stribeck曲线的参数,将其作为LuGre模型的静态参数。其次,采用阶跃响应曲线拟合得到LuGre模型的动态参数。最后,基于已经辨识的LuGre模型构建S函数,对伺服系统做前馈补偿。针对某型号转台伺服系统,所采用辨识方法的辨识精度高、速度快且鲁棒性好;所设计的前馈补偿器能有效改善转台伺服系统的低速性能。
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| 关 键 词： | LuGre摩擦模型 转台伺服系统 遗传算法 前馈补偿 |
Research on Friction Compensation Strategy of Servo System Based on LuGre Model |
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| YE Chao,CUI Ninghao,MA Zhenglei,LIN Deyin,WANG Qunjing.Research on Friction Compensation Strategy of Servo System Based on LuGre Model[J].Micromotors,2019(5):53-56. |
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| Authors: | YE Chao CUI Ninghao MA Zhenglei LIN Deyin WANG Qunjing |
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| Affiliation: | (China Electronic Technology Group Corporation Thirty-eighth Research Institute,Hefei 230601,China;School of Electrical Engineering and Automation,Anhui University,Hefei 230601,China;Shanghai Eagle Sense Technology Co.,Ltd.,Shanghai 200000,China;Engineering Research Center of Power Quality,Ministry of Education, Anhui University,Hefei 230601,China) |
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| Abstract: | The LuGre model can well explain the dynamic and static characteristics of the friction force. In this study,the genetic algorithm(GA) was used to identify the parameters of the Stribeck curve,which was used as the static parameters of the LuGre model. The dynamic parameters of LuGre model were obtained by step response curve fitting. Finally,the S function was constructed based on the identified LuGre model,and feed-forward compensation was applied to the servo system.According to the turntable servo system,the identification method was accurate,fast and robust;The designed feed-forward compensator can effectively improve the low speed performance of the turntable servo system. |
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| Keywords: | LuGre friction model turntable servo system genetic algorithm feed-forward compensation |
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