光电跟踪系统的摩擦模型辨识与补偿策略研究  

Friction model identification and compensation strategy for photoelectric tracking system

作　　者：刘云哲 董岩[1] 王伟[2] 宋建林 Liu Yunzhe;Dong Yan;Wang Wei;Song Jianlin(School of Electronic Information Engineering,Changchun University of Science and Technology,Changchun 130022,China;School of Optoelectronic Engineering,Changchun University of Science and Technology,Changchun 130022,China;Jilin Henghui Optoelectronic Technology Co.,Ltd,Changchun 130022,China)

机构地区：[1]长春理工大学电子信息工程学院,吉林长春130022 [2]长春理工大学光电工程学院,吉林长春130022 [3]吉林珩辉光电科技有限公司,吉林长春130022

出　　处：《红外与激光工程》2023年第11期206-214,共9页Infrared and Laser Engineering

基　　金：航空科学基金项目(202000080Q8001)。

摘　　要：光电跟踪系统在运行中受到摩擦力矩的影响导致在跟踪过程中产生抖动以及爬坡等现象,严重影响跟踪精度。为提升跟踪精度,结合Stribeck摩擦力矩提出一种最小二乘法与粒子群算法(PSO)结合辨识的方法,建立摩擦模型并使用扰动分离自抗扰(DSADRC)算法进行补偿。首先对转台系统进行建模,分析摩擦对系统的扰动;其次根据Stribeck摩擦模型的特点通过恒转速—力矩实验测得数据,使用最小二乘法与粒子群算法对力矩数据进行辨识,建立起Stribeck模型并将模型等效进系统中;最后使用扰动分离自抗扰控制算法对摩擦模型进行补偿。实验结果表明:最小二乘法与粒子群算法相结合辨识得到的摩擦模型与实测数据之间的平均误差为3.4%,扰动分离自抗扰在单边最大速度误差方面相较于PID控制与经典自抗扰控制分别下降了77.72%和58.78%,在摩擦力矩抑制方面与PID控制和经典自抗扰控制相比分别提升了73.59%和60.59%。Objective The photoelectric tracking system is affected by frictional torque during operation,resulting in jitter and climbing during the tracking process,which seriously affects the tracking accuracy.For the accurate compensation of frictional torque,this paper proposes a method of least squares method combined with particle swarm optimization algorithm for parameter identification with reference to Stribeck friction model,and uses the disturbance separation active disturbance rejection control(DSADRC)algorithm to compensate the identified friction model.Methods First,the turntable system is modeled to analyze the disturbance of friction on the system.According to the characteristics of Stribeck friction model,the corresponding data were measured by constant speed-torque experiment,and the minimum squares method and particle swarm algorithm were used to identify the moment data,and the Stribeck model was established and added to the system.Then the identified friction model is compensated by using DSADRC.Last,the compensator is designed based on DSADRC.Experimental results show that the average error between the friction model identified by the combination of least squares method and particle swarm algorithm and the measured data is 3.4%.Then PID control,active disturbance rejection control and disturbance separation active disturbance rejection control algorithms are used to control and compensate the friction torque.The results show that the maximum speed error of the disturbance separation active disturbance rejection control is 77.72%and 58.78%(Fig.8,Tab.4)lower than that of the PID control and the active disturbance rejection control respectively.The friction torque suppression of the disturbance separation active disturbance rejection control improves the PID control and the classical ADRC by 73.59%and 60.59%(Fig.9,Tab.5)respectively.The steady state error of the tracking system is reduced,and the tracking performance of the system is improved.Results and Discussions By comparing the results of parameter i

关 键 词：光电跟踪系统 Stribeck摩擦模型 最小二乘法 粒子群算法 扰动分离自抗扰 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]