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Method for identifying high accuracy servo system friction parameter by using ant colony algorithm

A servo system and friction parameter technology, applied in general control systems, control/regulation systems, calculations, etc., can solve problems that cannot truly reflect the dynamic process of friction phenomena

Inactive Publication Date: 2008-02-13
BEIHANG UNIV
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Problems solved by technology

Practice has shown that using the classic Coulomb friction + viscous friction as a friction model cannot truly reflect the dynamic process of friction phenomena

Method used

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  • Method for identifying high accuracy servo system friction parameter by using ant colony algorithm
  • Method for identifying high accuracy servo system friction parameter by using ant colony algorithm
  • Method for identifying high accuracy servo system friction parameter by using ant colony algorithm

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Embodiment Construction

[0081] The present invention takes a certain type of closed-loop high-precision servo system as an example to carry out LuGre friction parameter identification, and the initialization parameter is: k p =0.3,k i =0.5,k d =0.8, m=50, F=200, α=1.2, β=2.5, ρ=0.6, Q=300. The LuGre friction parameter identification method based on the ant colony algorithm is as follows:

[0082] (1) Static parameter identification

[0083] Let the closed-loop servo system run at a constant speed motion, get the corresponding control torque sequence {u} i＝1 N . By formula (6), when θ · · = 0 , There is F=u. therefore, and {u} i＝1 N These two sequences determine the steady-state correspondence between friction torque and rotational speed. Let the parameter vector to be identified be x s for

[0084] x s = [ ...

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Abstract

The invention provides a method for recognizing high-accuracy servo friction parameters by using ant colony optimization. Firstly, a closed loop servo system is made to rotate at an invariable speed to obtain corresponding control moment sequence, thereby, creating a static evaluation function to recognize static parameters of the high-accuracy servo friction parameters. Secondly, ants are scattered on spatial meshes on the principle of random and record the intelligent ant that processes best value of evaluation function. Pheromone is updated according to the rules combined with the evaluation function until the best static parameter is found out. And then an estimated value of the obtained static parameter is used in place of an actual value, further recognizing dynamic parameters. The method has advantages that the method does not rely on an accurate model of a controlled object and is provided with higher online freshness, which can effectively solve the difficult problem of online recognition and problems can be handled with more flexibility, suitability and robustness.

Description

(1) Technical field [0001] The invention relates to a method for identifying friction parameters of a high-precision servo system by using an ant colony algorithm, and belongs to the technical field of mechanical manufacturing. (2) Background technology [0002] In high-precision, ultra-low-speed servo systems, due to the existence of nonlinear friction links, the dynamic and static performance of the system are greatly affected. A limit cycle oscillation occurs. Therefore, in order to improve the performance of the system, appropriate control methods must be adopted to eliminate the influence of friction torque. In the compensation method based on the friction model, it is very important to select an appropriate friction model. Practice has shown that using the classic Coulomb friction + viscous friction as a friction model cannot truly reflect the dynamic process of friction phenomena. Canudas de Wit C et al. proposed the LuGre model in 1995 (Canudas de Wit C, Olsson H,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G06N3/00
Inventor 段海滨于秀芬王道波
Owner BEIHANG UNIV
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