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标题：基于LuGre模型的伺服系统摩擦补偿策略研究 |
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作者：叶超，崔宁豪，马正雷，等 |
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| 2019年第5期 访问次数：356次 |
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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。
关键词：LuGre摩擦模型；转台伺服系统；遗传算法；前馈补偿
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 feedforward compensation was applied to the servo system.According to the turntable servo system, the identification method was accurate, fast and robust;The designed feedforward compensator can effectively improve the low speed performance of the turntable servo system.
Key words: LuGre friction model; turntable servo system; genetic algorithm; feedforward compensation |
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