基于匹配追随算法的摩擦力自适应辨识与补偿研究  

Research on Adaptive Identification and Compensation of Friction Based on Matching Pursuit Algorithm

作　　者：郑言海[1] 王洪祥[1] 庄显义[1] 

机构地区：[1]哈尔滨工业大学控制工程系,哈尔滨 150001

出　　处：《高技术通讯》2001年第1期77-80,共4页Chinese High Technology Letters

基　　金：国家自然科学基金资助项目(59835180)

摘　　要：提出一种基于匹配追随算法的摩擦力自适应辨识与补偿新方法。该方法利用正交多项式实现对系统中以摩擦力为主的非线性动态充分逼近与补偿 ,不要求任何摩擦力模型。相对于基于线性化模型的自适应补偿算法 ,该算法具有更高的优越性。基函数集的选取对该算法精度及计算量有重要影响 ,该算法给出了一种基于残差分析法的基函数集优选方法。最后 。A new method for adaptive identification and compensation of frication based on the matching pursuit method was presented. This method approximates the nonlinear dynamics efficiently, which is mainly composed of friction in system, by orthogonal polynomials. This method does not require any model of friction, that is a model free algorithm. It is superior to other adaptive compensation algorithm based on linearized model. The basis function set has important effect on the precision and complexity of algorithm presented, a method to choose optimal basis functions set is provided based on the residual analysis method.

关 键 词：匹配追随算法 自适应辨识 补偿 摩擦力 高精度位置控制系统 

分 类 号：O313.5[理学—一般力学与力学基础]