基于遗传算法的伺服系统摩擦参数辨识与仿真
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摘要
首先,基于伺服系统的Stribeck摩擦模型,利用遗传算法对摩擦参数进行辨识和优化,提出了基于Stribeck摩擦模型的伺服系统摩擦参数的辨识方法,并根据伺服系统的控制要求选取合适的目标函数,以使辨识出来的摩擦参数不断逼近实际摩擦参数;然后,为了验证基于遗传算法的伺服系统摩擦参数的辨识效果,进而利用上一步通过遗传算法辨识出来的摩擦参数,将传统的PD控制与基于摩擦模型补偿的PD控制方法进行比较,并利用Matlab软件进行仿真分析。仿真结果表明:采用基于摩擦补偿的PD控制方法的伺服系统的动态响应要优于传统的PD控制方法,在伺服系统的跟踪控制中能够有效消除由于摩擦因素引起的跟踪误差,提升伺服系统的动态性能。
In order to achieve precise compensation of friction disturbance and improve the dynamic performance of servo system,the friction parameter identification and friction compensation control problem of servo system was studied in this paper.Firstly,the friction parameters were identified and optimized by using genetic algorithm based on Stribeck model,and the friction parameters identification method of servo system was proposed.Then,in order to verify the effectiveness of this method,a traditional PD control law was compared with PD compensation control law based on friction model.The simulation results show that the dynamical response of servo system could be significantly improved and the tracking error could be effectively eliminated by the proposed method.
In order to achieve precise compensation of friction disturbance and improve the dynamic performance of servo system,the friction parameter identification and friction compensation control problem of servo system was studied in this paper.Firstly,the friction parameters were identified and optimized by using genetic algorithm based on Stribeck model,and the friction parameters identification method of servo system was proposed.Then,in order to verify the effectiveness of this method,a traditional PD control law was compared with PD compensation control law based on friction model.The simulation results show that the dynamical response of servo system could be significantly improved and the tracking error could be effectively eliminated by the proposed method.
引文
[1]吕帅帅,林辉,樊明迪.电动加载系统多闭环复合控制[J].电机与控制学报,2015,19(9):16-23.
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[10]周林,彭程,梁青,等.直流伺服系统静态摩擦的最小二乘辨识[J].电子技术,2012,10(1):31-35.
[11]OLSSON H,ASTROM K J,DE WIT C A,et al.Friction models and friction compensation[J].European Journal of Control,1998,4(3):176-195.
[12]吴跃飞,马大为,姚建勇,等.机电伺服系统的非线性自适应动态摩擦补偿[J].机械工程学报,2014,49(6):89-95.
[13]SOUTHWARD S C,MACCLUER C R,RADCLIFFE C J.Robust nonlinear stick-slip friction compensation[J].ASME Journal of Dynamic Systems,Measurement,and Control,1991,113(4):639-645.
[14]梁青,张剑,王永.基于遗传算法的伺服系统摩擦模型参数辨识[J].仪表技术,2011,6(2):34-37.
[15]刘强,扈宏杰,刘金琨,等.基于遗传算法的伺服系统摩擦参数辨识研究[J].系统工程与电子技术,2003,25(1):77-81.
[2]王瑞娟,梅志千,李向国,等.机电伺服系统非线性摩擦自适应补偿的研究[J].中国电机工程学报,2012,32(36):123-131.
[3]TAN Y L,CHANG J.Adaptive Backstepping control and friction compensation for AC servo with inertia and load uncertainties[J].IEEE Transactions on Industrial Electronics,2003,19(2):187-193.
[4]焦竹青,屈百达,徐保国.基于遗传算法的直流伺服电机的摩擦补偿[J].清华大学学报(自然科学版),2007,47(2):1875-187.9.
[5]ARMSTRONG B,DUPONT P.A survey of models,analysis tools and compensation methods for the control of machines with friction[J].Automatica,1994,30(7):1083-1138.
[6]刘海荣,刘金琨.Lugre摩擦模型的模糊神经网络辨识仿真研究[J].计算机仿真,2007,24(1):80-83.
[7]刘强,尔联洁,刘金琨.参数不确定机械伺服系统的鲁棒非线性摩擦补偿控制[J].自动化学报,2003,29(4):628-633.
[8]杜仁慧,吴益飞,陈威,等.考虑Lu Gre摩擦的伺服系统自适应模糊控制[J].控制与决策,2013,28(8):1253-1257.
[9]马娟丽,唐永哲,职晓波.低速摩擦伺服系统的滑模变结构控制研究[J].弹箭与制导学报,2007,21(3):77-80.
[10]周林,彭程,梁青,等.直流伺服系统静态摩擦的最小二乘辨识[J].电子技术,2012,10(1):31-35.
[11]OLSSON H,ASTROM K J,DE WIT C A,et al.Friction models and friction compensation[J].European Journal of Control,1998,4(3):176-195.
[12]吴跃飞,马大为,姚建勇,等.机电伺服系统的非线性自适应动态摩擦补偿[J].机械工程学报,2014,49(6):89-95.
[13]SOUTHWARD S C,MACCLUER C R,RADCLIFFE C J.Robust nonlinear stick-slip friction compensation[J].ASME Journal of Dynamic Systems,Measurement,and Control,1991,113(4):639-645.
[14]梁青,张剑,王永.基于遗传算法的伺服系统摩擦模型参数辨识[J].仪表技术,2011,6(2):34-37.
[15]刘强,扈宏杰,刘金琨,等.基于遗传算法的伺服系统摩擦参数辨识研究[J].系统工程与电子技术,2003,25(1):77-81.