摘要
针对直流伺服电机的摩擦干扰问题,提出了一种基于遗传算法的摩擦补偿方案。将摩擦补偿环节引入直流伺服电机控制系统中,采用遗传算法对摩擦补偿模型参数进行在线辨识,根据伺服电机的控制要求选择相应的目标函数,使补偿量不断逼近于实际摩擦干扰,最终利用摩擦补偿来抵消摩擦干扰给伺服系统带来的影响。在Matlab环境中进行了伺服系统的摩擦补偿过程仿真实验,并得出了参数优化后的摩擦补偿模型。仿真结果表明:该方案与无摩擦补偿情况相比,不仅有效提高了直流伺服电机的稳定性和跟踪精度,而且具有较强的自适应能力和参数鲁棒性,为直流伺服电机的摩擦补偿提供了一种有效可行的新方法。
A friction compensation scheme based on a genetic algorithm was developed to eliminate the effect of friction disturbances in DC servo motors.The friction compensation was introduced into the DC servo motor control system with the friction compensation model parameters identified online by the genetic algorithm.The objective function was chosen to satisfy the servo motor control specifications so that the compensation converges to the actual friction force to eliminate the effect of friction on the servo system.Simulations of the parameter optimization demonstrate that this scheme improves the stability and tracking precision of the DC servo motor and has better adaptive ability and parameter robustness than without the friction compensation.
出处
《清华大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2007年第z2期1875-1879,共5页
Journal of Tsinghua University(Science and Technology)
基金
国家科技部"十五"计划科技攻关项目(2001BA204B01-03)
关键词
遗传算法
直流伺服电机
摩擦补偿
genetic algorithm
DC servo motor
friction compensation
