| 基于粒子群算法的火炮伺服系统摩擦参数辨识 |
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| 引用本文： | 张文静,赵先章,台宪青. 基于粒子群算法的火炮伺服系统摩擦参数辨识[J]. 清华大学学报(自然科学版), 2007, 47(Z2): 1717-1720 |
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| 作者姓名： | 张文静 赵先章 台宪青 |
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| 作者单位： | 中国科学院,自动化研究所,综合信息系统研究中心,北京,100080 |
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| 摘 要： | 针对火炮交流伺服系统中存在的非线性动态摩擦,为了提高火炮伺服系统的跟踪精度,提出了一种基于粒子群的LuGre摩擦参数两步辨识方法。利用Stribeck曲线辨识了4个静态参数,利用滞滑极限辨识了2个动态参数,完成了摩擦力矩的动态补偿。实验结果表明了该算法的合理性,火炮伺服系统的正弦跟踪最大误差为1.25 mrad,精度完全达到了军标要求。
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| 关 键 词： | 火炮交流伺服 LuGre摩擦模型 粒子群 |
| 文章编号： | 1000-0054(2007)S2-1717-04 |
| 修稿时间： | 2007-04-12 |
Parameter identification of gun servo friction model based on the particle swarm algorithm |
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| ZHANG Wenjing,ZHAO Xianzhang,TAI Xianqing. Parameter identification of gun servo friction model based on the particle swarm algorithm[J]. Journal of Tsinghua University(Science and Technology), 2007, 47(Z2): 1717-1720 |
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| Authors: | ZHANG Wenjing ZHAO Xianzhang TAI Xianqing |
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| Abstract: | The friction in gun AC servo systems is highly nonlinear.The particle swarm optimization algorithm was used to develop a two-step offline identification methodology of the LuGre friction parameters to compensate for the dynamic friction.Four static parameters were estimated via the Stribeck curve and two dynamic parameters were obtained from the stick-slip response for the dynamic friction compensation.Experimental results verify the effectiveness of the scheme for high-precision trajectory tracking,with position tracking errors for a sinusoidal trajectory of less than 1.25 mrad. |
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| Keywords: | gun servo system LuGre friction model particle swarm |
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