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Accurate modeling method of electromechanical actuation system friction pair

A technology of electromechanical actuation and modeling methods, applied in general control systems, control/regulation systems, electrical digital data processing, etc., can solve problems such as slow convergence speed and inability to adjust

Inactive Publication Date: 2018-04-17
SOUTHEAST UNIV
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Problems solved by technology

In addition, the traditional genetic algorithm has the problem of slow convergence and cannot be adjusted.

Method used

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  • Accurate modeling method of electromechanical actuation system friction pair
  • Accurate modeling method of electromechanical actuation system friction pair
  • Accurate modeling method of electromechanical actuation system friction pair

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Embodiment Construction

[0067] The present invention will be further described below in conjunction with drawings and embodiments.

[0068] The present invention is specifically an accurate modeling method for the friction pair of an electromechanical actuating system based on the Stribeck friction model and the simulated annealing genetic algorithm. The flow chart of the steps is as follows figure 1 As shown, it specifically includes the following steps:

[0069] Step 1: Online testing steps. First, make the electromechanical servo system work under constant speed control, and test the corresponding torque at different speeds.

[0070] Step 2: Model selection step. The friction model suitable for the electromechanical servo system is selected, the parameters to be identified are determined according to the selected friction model, and the identification value sequence and identification error sequence of the calculated friction torque are further obtained.

[0071] Step 3: Objective function sele...

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Abstract

The invention discloses an accurate modeling method of an electromechanical actuation system friction pair; the method employs a Stribeck friction model and a simulation annealing heredity algorithm,and belongs to the electromechanical system modeling technical field; the method comprises the following steps: 1, online test; 2, model selection; 3, target function selection; 4, iteration search identification. The iteration search identification step comprises the following 7 substeps: 1, random generation of initialization population; 2, individual fitness calculation; 3, employing a random traversal sampling method to form a new generation population; 4, simulation annealing selection operation; 5, simulation annealing intersect operation; 6, simulation annealing mutation operation; 7, iteration operation termination determination. Compared with the prior art, the electromechanical actuation system modeling method is faster in convergence speed and higher in modeling precision.

Description

technical field [0001] The invention relates to an accurate modeling method for a friction pair of an electromechanical actuation system, which is based on a Stribeck friction model and a simulated annealing genetic algorithm, and belongs to the technical field of electromechanical system modeling. Background technique [0002] Electro-Mechanical Actuator (EMA) is a general term for a class of position servo control systems. Specifically, it is a system that drives position-following load equipment by controlling the action of a servo motor. Electro-Mechanical Actuator systems are used in military, agricultural, transportation and other industries have a very wide range of applications. The working principle of the electromechanical actuator is to convert the rotational motion of the motor into the linear reciprocating motion of the bearing part through the reducer, screw and nut, and at the same time push the load to move. [0003] In the field of electromechanical control...

Claims

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Application Information

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IPC IPC(8): G05B13/04G06F17/50
CPCG05B13/042G06F30/20
Inventor 吴超李奇冒建亮杨俊
Owner SOUTHEAST UNIV
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