电动舵机伺服系统非线性辨识及补偿  

Identification and compensation of nonlinearity for electromechanical actuator servo system

作　　者：肖前进[1,2,3] 贾宏光[1] 章家保[1] 韩雪峰[1] 席睿[1] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所,吉林长春130033 [2]中国科学院大学,北京100039 [3]武汉第二船舶设计研究所,湖北武汉430064

出　　处：《光学精密工程》2013年第8期2038-2047,共10页Optics and Precision Engineering

基　　金：中国科学院长春光学精密机械与物理研究所三期知识创新工程资助项目;中国科学院知识创新工程国防科技创新重要方向资助项目(No.YYYJ-1122)

摘　　要：为提高电动舵机伺服系统的跟踪精度,提出了辨识、测试它的摩擦和间隙非线性及对其进行补偿的方法。针对位置和速度双闭环控制的电动舵机伺服系统,建立了基于LuGre摩擦和迟滞间隙的数学模型;依据模型采用前馈补偿方法对系统中的摩擦进行补偿,同时采用逆模型方法对系统中的间隙进行补偿控制。实验显示,对于幅值为1°,频率为2.5Hz的给定正弦信号,补偿后系统的最大位置跟踪误差由原来的0.166°减小到了0.096°,最大速度跟踪误差由原来的2.723r/min减小到了0.393r/min。结果表明,本文提出的辨识测试方法能够精确地获得摩擦和间隙模型,基于该模型的补偿能够有效地提高电动舵机伺服系统的跟踪精度。To improve the tracking accuracy of an electromechanical actuator servo system, the meth- ods to identify and compensate the noninearities of friction and backlash were put forward. The math- ematical models based on the LuGre friction and the hysteresis backlash were established for the elec- tromechanical actuator servo system with position loop and speed loop controllers. According to the i- dentified nonlinearity models, the friction was compensated though a feed-forward method, and the backlash was compensated simultaneously though an inverse model as well. The experiments indicate that the maximum position tracking error of system after compensation decreases from 0. 166% to 0. 096%, and the maximum speed tracking error decreases from 2. 723 r/min to 0. 393 r/min when the given signal is sine wave with an amplitude of 1% and a frequency of 2.5 Hz. It concluds that the friction and backlash models can be tracking accuracy of the electrom compensation on the basis of the accurate eehanica propose ly obtained by the proposed identification methods, and the 1 actuator servo system can be improved through nonlinearity d models.

关 键 词：电动舵机伺服系统 非线性 LuGre摩擦 迟滞间隙 辨识及补偿 

分 类 号：V421.6[航空宇航科学与技术—飞行器设计] TP273[自动化与计算机技术—检测技术与自动化装置]