基于遗传算法的伺服系统摩擦模型参数辨识  

The Friction Model Parameters Identification of Servo System Based on Genetic Algorithm

作　　者：梁青[1] 张剑[1] 王永[1] 

机构地区：[1]中国科学技术大学自动化系,安徽合肥230027

出　　处：《仪表技术》2011年第6期34-36,共3页Instrumentation Technology

摘　　要：文章研究受摩擦因素影响的伺服系统的摩擦模型参数辨识问题,该系统具有未知负载特性和非线性摩擦,给摩擦模型参数辨识带了较大的困难。首先将系统的输入力矩分解为线性力矩和非线性摩擦力矩,其中线性力矩部分用于驱动负载转动,非线性摩擦力矩用于克服摩擦作用;然后基于Stribeck摩擦模型,采用遗传算法进行参数优化。在直流伺服系统上的仿真结果显示了该方法的有效性。该辨识方法对系统已知信息要求较少且容易实现,具有很强的工程实用价值。In this paper,the friction model parameter identification problem of DC servo system affected by friction is studied.The identification of friction model parameters has great difficulties due to the existence of unknown load characteristics and nonlinear friction.The input torque is divided into linear torque and nonlinear friction torque firstly.The linear torque is used to drive the load rotation and the nonlinear friction torque is used to overcome friction.Then,the genetic algorithm is used for parameter optimization based on Stribeck friction model.Simulation results from DC servo system show the effectiveness of the proposed method.The identification method presents strong practical value because of fewer requirements for known information and easy implementation.

关 键 词：摩擦 参数辨识 伺服系统 

分 类 号：TP214[自动化与计算机技术—检测技术与自动化装置]