光学精密工程2011，Vol.19Issue(11)：2736-2743,8.DOI:10.3788/OPE.20111911.2736
基于LuGre模型实现精密伺服转台摩擦参数辨识及补偿
Friction parameter identification and friction compensation for precision servo turning table
摘要
Abstract
To decrease the influence of friction on the angular speed tracking accuracy of a precision servo turning table, the methods of friction parameter identification and friction compensation based on the LuGre model was put forward. Firstly, the angular speed over zero phenomenon occurred in the angular speed free reduction was analyzed, and the genetic algorithm was used to fit the angular speed reduction curve to obtain LuGre model parameters and rotational inertia. Then, the parameter I-dentification method was tested and verified by a simulation experiment. Finally, the friction compensation was computed by identfication parameters and was added to the angular speed tracking system of the turning table . The actual experimental system achieves a angular speed loop and a current loop and its data update rate is 1 kHz. In the actual angular speed measuring experiment, the mean square deviation of error between actual angular speed curve and fitting curve is 2. 9× 10-3rad/s. In the angular speed tracking experiment, when the given signal is sine wave with an amplitude of 0. 032 4 rad/s and frequency of 0. 5 Hz, friction compensation can eliminate the waveform distortion, and the mean square deviation of angular speed tracking error has decreased by 27% as compared with that of double loops control system without friction compensation. It is concluded that the friction parameter identification method can obtain high accurate parameters, and can improve the angular speed tracking accuracy of servo turning tables prominently.关键词
伺服转台/LuGre模型/参数辨识/摩擦补偿/转动惯量Key words
turning table/ LuGre model/ parameter identification/ friction compensation/ rotational inertia分类
信息技术与安全科学引用本文复制引用
于伟,马佳光,李锦英,肖靖..基于LuGre模型实现精密伺服转台摩擦参数辨识及补偿[J].光学精密工程,2011,19(11):2736-2743,8.基金项目
国家863高技术研究发展计划资助项目(No.2008AA8020205) （No.2008AA8020205）
