摘要
针对液压转台系统存在的非线性动态磨擦辨识精度不高的问题,提出将一种基于优化策略的算法应用于液压转台的LuGre摩擦模型参数辨识以提高动态摩擦辨识精度。基于优化策略的遗传模拟退火算法既具有遗传算法的全局性和并行性,又具有模拟退火算法的局部搜索能力,可以提高非线性动态摩擦辨识精度。在介绍液压转台LuGre摩擦模型基础上,推导了基于优化策略的LuGre摩擦模型动态摩擦参数和静态摩擦参数的辨识方法并应用于液压转台系统,最后的仿真实验验证了这种方法的有效性。
Aiming at inaccurate identification for nonlinear dynamic friction parameters in hydraulic simulator, this paper presents an optimization algorithm used in LuGre friction model identification. It is used to develop a two-step offline identification methodology of LuGre friction parameters. The genetic simula- ted annealing algorithm based on the optimization has both not only the capability of globally searching and parallel computation of genetic algorithm, but also the powerful locally searching capability of simulated annealing algorithm, and can improve the identification precision of dynamic friction model greatly. On the basis of introduction of LuGre friction model for the hydraulic simulator, a method for the static and dynamic LuGre friction parameter identifications was derived and applied to hydraulic simulator. The simulation results verify the feasibility and the effectiveness of the method.
出处
《兵工学报》
EI
CAS
CSCD
北大核心
2010年第6期855-859,共5页
Acta Armamentarii
关键词
流体传动与控制
摩擦
优化策略
液压转台
参数估计
turn and control of fluid
friction
optimum strategy
hydraulic simulator
parameter identification
