二次调节主动升沉补偿实验平台的摩擦辨识与补偿控制  

Identification and Compensation Control of Friction in Secondary Regulation Active Heave Compensation Experimental Platform

作　　者：曾呈昊 胡逸飞 吴金波[1] ZENG Chenghao;HU Yifei;WU Jinbo(School of Naval Architecture and Ocean Engineering,Huazhong University of Science and Technology,Wuhan 430074,China)

机构地区：[1]华中科技大学船舶与海洋工程学院,湖北武汉430074

出　　处：《机械与电子》2022年第11期35-39,45,共6页Machinery & Electronics

基　　金：国家自然科学基金资助项目(51979117)。

摘　　要：以二次调节主动升沉补偿实验平台为研究对象,针对系统中存在的非线性摩擦转矩,提出摩擦辨识及补偿方案。首先,选用Stribeck模型描述系统摩擦,建立了包含非线性摩擦转矩的平台数学模型;其次,根据平台特点设计摩擦辨识策略,使用最小二乘算法辨识得到未知系统参数,在此基础上拟合Stribeck曲线获取摩擦模型参数;然后,通过摩擦前馈和非线性PID实现摩擦补偿控制,提高升沉补偿精度;最终,实验验证了所提方案的有效性。Taking the secondary regulation active heave compensation experimental platform as the research object, aiming at the nonlinear friction torque in the system, the friction identification and compensation scheme are designed.Firstly, the Stribeck model is used to describe the system friction, and the mathematical model of the platform including nonlinear friction torque is established.Secondly, the friction identification method is designed according to the characteristics of the platform, and the unknown system parameters are identified by the least square algorithm.On this basis, the friction model parameters are obtained by fitting the Stribeck curve.Thirdly, the friction compensation control is realized through friction feedforward and nonlinear PID controller to improve the accuracy of heave compensation.Finally, experiment results verify the effectiveness of the proposed scheme.

关 键 词：升沉补偿 二次调节 摩擦转矩 参数辨识 非线性PID 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U664[自动化与计算机技术—控制科学与工程]