基于能量法则的Stribeck摩擦模型参数辨识及其应用研究
发布时间：2018-08-24 12:56
【摘要】：摩擦模型参数辨识在机械工程设计、控制、系统优化等方面均发挥重要作用,针对无法通过恒速法获取摩擦力的机械系统(譬如汽车转向系统),本文以Stribeck摩擦模型为原型提出一种辨识其摩擦参数的方法。首先,基于能量法则将参数辨识问题转化为参数优化问题,并根据优化目标的结构特点,分别设计了最小二乘法和遗传算法两种辨识算法。其次,利用Matlab/Simulink搭建含Stribeck摩擦模块的单自由度和两自由度运动仿真系统,并针对最小二乘法和遗传算法的优化条件设计了运动方案,仿真结果验证了能量法则的正确性与所提出参数辨识方法的有效性。再次,以循环球转向实验台架为应用对象,建立包含Stribeck摩擦模型的系统动力学方程,并结合本文所设计的参数辨识方法确定该转向系统摩擦实验方案。最后,设计了具体的转向系统实验方案并依次实施,对实验结果采用遗传算法逐个辨识出系统各摩擦模块的摩擦参数,通过相对误差分析和系统综合分析论证了参数辨识结果准确可信,并验证了本文所提出的方法对汽车转向系统摩擦参数辨识切实可行。
[Abstract]:Friction model parameter identification plays an important role in mechanical engineering design, control, system optimization, etc. For mechanical system (such as automobile steering system) which can not obtain friction force by constant speed method, this paper presents a method to identify friction parameters based on Stribeck friction model. Firstly, the parameter identification problem is transformed into the parameter optimization problem based on the energy rule, and two identification algorithms, least square method and genetic algorithm, are designed according to the structural characteristics of the optimization objective. Secondly, the motion simulation system of single degree of freedom and two degrees of freedom with Stribeck friction module is built by using Matlab/Simulink, and the motion scheme is designed according to the optimization conditions of least square method and genetic algorithm. Simulation results verify the correctness of the energy rule and the validity of the proposed parameter identification method. Thirdly, the system dynamic equation including Stribeck friction model is established, and the friction experimental scheme of the steering system is determined by using the parameter identification method designed in this paper. Finally, the specific experiment scheme of steering system is designed and implemented in turn. The friction parameters of each friction module of the system are identified one by genetic algorithm. Through the relative error analysis and the system comprehensive analysis, it is proved that the parameter identification results are accurate and credible, and it is proved that the method proposed in this paper is feasible for automobile steering system friction parameter identification.
【学位授予单位】：广西大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TH117.1
本文编号：2200887
[Abstract]:Friction model parameter identification plays an important role in mechanical engineering design, control, system optimization, etc. For mechanical system (such as automobile steering system) which can not obtain friction force by constant speed method, this paper presents a method to identify friction parameters based on Stribeck friction model. Firstly, the parameter identification problem is transformed into the parameter optimization problem based on the energy rule, and two identification algorithms, least square method and genetic algorithm, are designed according to the structural characteristics of the optimization objective. Secondly, the motion simulation system of single degree of freedom and two degrees of freedom with Stribeck friction module is built by using Matlab/Simulink, and the motion scheme is designed according to the optimization conditions of least square method and genetic algorithm. Simulation results verify the correctness of the energy rule and the validity of the proposed parameter identification method. Thirdly, the system dynamic equation including Stribeck friction model is established, and the friction experimental scheme of the steering system is determined by using the parameter identification method designed in this paper. Finally, the specific experiment scheme of steering system is designed and implemented in turn. The friction parameters of each friction module of the system are identified one by genetic algorithm. Through the relative error analysis and the system comprehensive analysis, it is proved that the parameter identification results are accurate and credible, and it is proved that the method proposed in this paper is feasible for automobile steering system friction parameter identification.
【学位授予单位】：广西大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TH117.1
【参考文献】
相关期刊论文 前1条
1 徐升;葛文杰;张辉;;双万向节系统不等速性因素研究[J];机械传动;2014年04期
相关硕士学位论文 前1条
1 李红根;万向节参数化建模及运动特性的研究[D];西南交通大学;2014年
，本文编号：2200887
本文链接：https://www.wllwen.com/jixiegongchenglunwen/2200887.html
