两轴两框架机载光电系统摩擦模型辨识的研究  

Friction Model Identification of Two-Axis and Two-Frame Airborne Photoelectric System

作　　者：张文轩 王栋[1] ZHANG Wen-xuan;WANG Dong(Huazhong Institute of Electro-Opics-Wuhan National Laboratory for Optoelectronics,Wuhan 430223,China)

机构地区：[1]华中光电技术研究所-武汉光电国家研究中心,湖北武汉430223

出　　处：《光学与光电技术》2023年第2期144-151,共8页Optics & Optoelectronic Technology

摘　　要：机载光电吊舱的误差来源有很多种,其中一种就是摩擦力矩,当光轴处于低速或来回转动时,其摩擦力矩会在静摩擦和滑动摩擦之间来回变化,难以预测。使用辨识方法建立摩擦模型,并加以补偿,是提高两轴两框架光轴精度的一种方法。介绍了摩擦力矩的建模过程,使用两只吊舱对比了四种模型的拟合效果。拟合结果表明,库伦+粘滞模型中缺少对于静摩擦力的描述;静摩擦+库伦+粘滞模型中静摩擦到动摩擦是跳变,很难进行摩擦力的估计和补偿;LuGre模型不仅有静摩擦的相关描述,其曲线缓慢变化更贴近低速时接触面处于静摩擦和动摩擦来回变动的特性,具有较好的拟合特性。通过实验验证了LuGre模型的准确性和优越性。There are many sources of error in airborne photoelectric pod,one of which is friction torque.When the optical axis is at low speed or rotating back and forth,its friction torque will change back and forth between static friction and sliding friction,which is difficult to predict.Using identification method to establish friction model and compensate it is a method to improve the accuracy of two-axis and two-frame optical axis.This paper explains the modeling process of friction torque in detail and compares the fitting effects of three models.Coulomb+viscosity model lacks the description of static friction.In the static friction+coulomb+viscosity model,the static friction to dynamic friction is a jump,so it is difficult to estimate and compensate the friction.The LuGre model not only has the relevant description of static friction,but also has a good fiting property because its curve changes slowly,which is more close to the characteristics of the contact surface changing back and forth between static friction and dynamic friction at low speed.

关 键 词：光电吊舱 摩擦力矩 LUGRE模型 库伦+粘滞+静摩擦模型 参数辨识 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]