光学精密工程2011，Vol.19Issue(3)：664-671,8.DOI:10.3788/OPE.20111903.0664
应用稳态误差分析辨识LuGre模型参数
Parameter identification of LuGre model based on analysis of steady state error
摘要
Abstract
To get accurate parameters in both static and dynamic models, an identification method of model parameters based on the analysis of steady state error was presented. Firstly, the relationship between steady state errors and input and interference signals in a servo system was determined, and the influence of torque ripples on the parameter identification was eliminated based on the study above. Then, the friction torque was deduced by using the steady state error, and the static and dynamic parameters were identified through the genetic algorithm. Finally, the friction torque was compensated according to the identified model, and the compensated effect was analyzed. The experimental results show that the steady state error of uniform motion has decreaseed from 36 μm to ±3 μm,that of uniformly accelerated motion decreased from 34 μm to ±3 μm, and that of sinusoidal motion decreased from 35 m to ±7 μm. It concludes that the dynamic and static parameters of LuGre can be preciseJy obtained by this identification mctlhod, and thc tracking accuracy of the scrvo systenm can also be improved through friction compensation on the basis of the proposed model.关键词
LuGre摩擦模型/参数辨识/转矩纹波/稳态误差Key words
LuGre friction model/ parameter identification/torque ripple/ steady slate error分类
信息技术与安全科学引用本文复制引用
谭文斌,李醒飞,向红标,朱嘉,张晨阳..应用稳态误差分析辨识LuGre模型参数[J].光学精密工程,2011,19(3):664-671,8.基金项目
国家自然科学基金资助项目(No.50975206) （No.50975206）
