基于区间分析理论的摩擦补偿研究

Research on friction compensation based on interval analysis theory

本文采用新型Stribeck模型和区间辨识方法对伺服系统中的摩擦补偿进行了研究。首先,针对Stribeck摩擦模型存在非线性、控制计算量大和不利于控制器设计等缺点,本文对其进行了线性化,并提出一种线性化的Stribeck模型;然后介绍了区间理论的参数辨识方法,并对方法的有效性进行了仿真验证研究;利用所提出的新模型进行了摩擦实验,结果显示该模型可以辨识出摩擦参数,接着设计了前馈摩擦补偿控制器。最后,分别采用阶跃和正弦输入信号进行实验,结果显示采用所设计摩擦补偿器补偿后,两种信号的稳态精度分别提高了26.8%和83.63%,验证了新模型和方法的有效性。本文提出的新型Stribeck模型易于工程应用,所用区间分析理论适用于参数辨识。

A new-type Stribeck model and interval analysis theory were used to conduct friction compensation in servo mechanism.First,aiming at defects of Stribeck friction model such as nonlinearity,huge computation,going against the design of the control and others which are subject to be linearization,a kind of linearized Stribeck model was proposed.Then the parameter identification method of interval theory was introduced and simulation was performed to verify the effectivity of interval analysis theory.Finally,the mentioned new model was used to conduct friction experiment and the friction parameters were identified,and feedforward friction compensation controller was furthermore designed.By taking step signal and sinusoidal signal as input signal separately,the performance of designed friction compensator was verified,and the results indicate that the stability accuracy has been separately improved 26.8% and 83.63%,which verifies the validity of new model and the method.The new-type Stribeck model is subject to be used in engineering application and the interval analysis theory used in this paper is applicable to parameter identification.