摘要
因为直线进给伺服系统容易受到摩擦力的影响,对于以高速高精度直线电机为组成核心的进给系统,消除摩擦力的影响尤为重要。因此,本文以直线电机导轨的摩擦力为研究对象,基于能反映摩擦过程中动静态特性的LuGre摩擦模型,考虑了摩擦迟滞非线性因素的影响。以单轴直线电机进给系统为实验平台,通过LabVIEW构建摩擦力实验测试平台,经过与MATLAB交互的小波去噪算法的滤波后得到摩擦力数据。利用遗传算法的摩擦模型参数辨识方法有效地对模型参数进行了参数辨识。该方法得到的结果与通过实验得到的数据具有一致性,验证了方法的正确性与辨识结果的准确性。
The linear feed servo system is easily affected by the friction force. For the high-precision linear motor as a feed system, it is important to eliminate the influence of friction force especially. This article takes the friction force of the linear motor track as the research object, based on the LuGre friction model that can reflect the dynamic and static characteristics of the friction process, taking into account the influence of the nonlinear factors of the friction hysteresis. Using the uniaxial linear motor feed mechanism as the experimental platform, experimental test platform for friction was constructed. After the wavelet denoising algorithm interacted with MATLAB, the friction data was obtained. The parameters of the friction model of the genetic algorithm were used to effectively identify the model parameters. The results obtained by this method are consistent with the data obtained through experiments, verifying the correctness of the method and the accuracy of the identification result.
作者
张健
Zhang Jian(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)
出处
《农业装备与车辆工程》
2019年第3期78-82,共5页
Agricultural Equipment & Vehicle Engineering
关键词
直线电机
摩擦力
小波去噪
遗传算法
参数辨识
linear motor
friction
wavelet denoising
genetic algorithm
parameter identification
