基于改进差分进化算法的伺服驱动系统摩擦参数辨识研究

Research on the Parameter Identification of Friction Model for Servo Drive System Based on Improved Differential Evolution

非线性摩擦力是影响伺服驱动系统定位精度的主要因素之一,摩擦补偿技术可以有效抑制摩擦力对伺服驱动系统的影响。Stribeck摩擦模型作为一种常用的摩擦模型,能够比较精确的描述系统摩擦力的特性,其精确程度与摩擦参数的准确度密切相关,所以辨识摩擦参数的方法至关重要。论文以常规伺服驱动系统为研究对象,提出了一种基于改进差分进化算法的摩擦辨识方法,并与常规差分进化算法和遗传算法进行了仿真对比。辨识结果表明,基于改进差分进化算法的摩擦参数辨识方法辨识速度更快,精确度更高。

Nonlinear friction is one of the dominant factors that affect the positioning accuracy of the servo drive system.The friction compensation can effectively restrain the adverse effects of the nonlinear friction on servo drive system.As a common friction model,Stribeck friction model can accurately describe the characteristics of the friction on servo drive system.The accuracy of the Stribeck friction model depends on the friction parameters.Therefore,the method used to identify friction parameters is critical.In this paper,a method of the friction parameters identification based on improved differential evolution algorithm is proposed,and the simulation experiments comparing improved differential evolution with genetic algorithm and common evolution algorithm are designed.The identification results show that the friction parameters identification based on improved differential evolution algorithm has faster identifying speed and higher accuracy.