摘要
针对进给伺服系统存在非线性摩擦的问题,介绍了一种改进的Dahl模型,该模型改善了Dahl模型的稳定性且能描述滞-滑现象。基于该模型建立了考虑摩擦的系统综合数学模型,分析了摩擦对系统性能的影响;同时,对系统采用固定摩擦补偿,并利用遗传算法对摩擦参数进行了辨识。结果表明,改进的Dahl模型摩擦补偿有效地消除了系统因摩擦而产生的"死区"、"平顶"等不良现象,提高了系统的运动精度和定位精度。
Aiming at the influence of nonlinear friction on the feed servo system introducing a modified Dahl model which could improve the stability of the Dahl model and describe the stick-slip phenomenon. Based on the modified Dahl model, the mathematical models containing friction was established and the effects of friction on the system performance was studied. Then the fixed friction compensation was used to the system and the friction parameters were identified using genetic algorithem. The results show that the modified Dahl friction compensation can effectively remove bad phenomena such as dead zone, chopped top, etc and improve the precision of motioning and positioning of system.
出处
《现代制造工程》
CSCD
北大核心
2014年第1期114-117,121,共5页
Modern Manufacturing Engineering
关键词
改进的Dahl模型
进给伺服系统
非线性摩擦
摩擦补偿
参数辨识
modified Dahl model
feed servo system
nonlinear friction
friction compensation
parameter identification
