航空遥感惯性稳定平台LuGre摩擦参数的分步辨识

发布时间：2018-03-24 22:32

本文选题：航空遥感　切入点：惯性稳定平台　出处：《光学精密工程》2016年05期

【摘要】：由于航空遥感惯性稳定平台框架角运动受限,本文提出了基于LuGre摩擦模型进行参数初步和精确辨识的方法以进一步提高其控制精度。从数字控制系统出发,构建了摩擦参数辨识系统,把摩擦参数辨识问题转化为曲线拟合问题。通过限定输入信号幅值和频率,解决了框架角运动受限导致摩擦参数辨识困难的问题。结合数字控制系统特性,优先辨识摩擦线性项参数;根据摩擦静态和动态特性,提出分步夹逼和分步搜索法依次辨识剩余参数,完成初步辨识。然后代入初步辨识结果,用遗传算法完成摩擦参数的精确辨识。仿真结果表明:摩擦参数初步辨识误差小于5%,精确辨识误差小于0.7%;用辨识出的摩擦参数构建摩擦补偿器,系统对基座低频角运动干扰的抑制能力提高了4倍。最后,基于某原理样机开展了摩擦参数辨识和补偿实验,结果表明控制精度提高了1倍,证实了提出的辨识方法的有效性和工程实用意义。
[Abstract]:Due to the limited angular motion of inertial stabilization platform based on remote sensing, this paper presents a method of parameter identification based on LuGre friction model to further improve its control accuracy. A friction parameter identification system is constructed, and the problem of friction parameter identification is transformed into a curve fitting problem. The problem of identification of friction parameters caused by limited angular motion of frame is solved. According to the characteristics of digital control system, the parameters of linear term of friction are identified first, and according to the static and dynamic characteristics of friction, A step by step pinch method and a step by step search method are proposed to identify the remaining parameters in turn to complete the preliminary identification, and then substitute the preliminary identification results. The simulation results show that the initial identification error of friction parameters is less than 5 and the accurate identification error is less than 0.7.The friction compensator is constructed with the identified friction parameters. Finally, the friction parameter identification and compensation experiments based on a prototype are carried out. The results show that the control accuracy is doubled. It is proved that the proposed identification method is effective and practical in engineering.
【作者单位】：国防科学技术大学航天科学与工程学院;
【基金】：国家自然科学基金青年基金资助项目(No.61503395)
【分类号】：V243.5

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