基于智能差分算法的摩擦力补偿方法研究

Research on friction compensation method based on intelligent differential algorithm

摘要:

针对光电平台低速转动时，受摩擦力影响较大，使得速度跟随曲线出现“死区”现象，导致跟踪性能明显下降这一问题，提出了一种基于智能差分进化算法和Lurge摩擦模型的摩擦力补偿控制方法。通过采集记录光电转台正、反向匀速运动时的摩擦力大小，建立转台不同速度和摩擦力之间的对应关系。通过最小二乘法对摩擦模型静态参数进行分段拟合，采用智能差分进化算法辨识摩擦模型动态参数，并基于反馈的速度信息和获得的摩擦模型等效为摩擦补偿力矩输入到电流环控制输入端，实现平台平稳低速运行。实验结果表明：摩擦力补偿后速度响应误差由补偿前的±0.1°/s减小到±0.04 °/s，提出方法效果显著。

Abstract:

Aiming at the disadvantage that the photoelectric platform is greatly affected by friction when it rotates at low speed, the "dead zone" phenomenon appears in the speed following curve, and the tracking performance is obviously reduced, a friction force compensation method based on intelligent differential evolution algorithm and Lurge friction model is proposed in the paper. By collecting and recording the friction force when the photoelectric turntable moves at a constant speed in the forward and reverse directions, the corresponding relationship between the different speeds of the turntable and the friction force is established. The static parameters of the friction model are identified with the least square method, and the dynamic parameters of the friction model are identified by the intelligent differential evolution algorithm. Based on the feedback speed information and the obtained friction model, the equivalent friction compensation torque is treated as the input of the current loop to achieve stable low-speed operation of the platform. After friction compensation, the speed response error is reduced from ±0.1°/s to ±0.04°/s. The experimental results show that the proposed method in this paper is effective.