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Limit cycle oscillation-based rapid friction identification method of electromechanical servo system

An electromechanical servo system and identification method technology, which is applied in the field of fast friction identification based on limit cycle oscillation in electromechanical servo systems, can solve problems such as difficulty in obtaining experimental data, affecting identification efficiency, large amount of experimental data and large number of calculations, etc. Small amount, easy to realize, and the effect of improving design efficiency

Active Publication Date: 2017-03-15
LUOYANG INST OF ELECTRO OPTICAL EQUIP OF AVIC
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AI Technical Summary

Problems solved by technology

These methods rely on experimental design, and the amount of experimental data and calculations are large, which seriously affects the identification efficiency.
Especially for electromechanical systems with a small range of motion, it is difficult to obtain sufficient experimental data

Method used

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  • Limit cycle oscillation-based rapid friction identification method of electromechanical servo system
  • Limit cycle oscillation-based rapid friction identification method of electromechanical servo system
  • Limit cycle oscillation-based rapid friction identification method of electromechanical servo system

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach

[0029] Firstly, all links in the control loop are described by mathematical models.

[0030] The description function of the relay characteristic is, where A is the amplitude of the sinusoidal input signal.

[0031] The friction adopts the Stribeck model commonly used in engineering, and its description function is:

[0032]

[0033] Among them, T s with T c are the maximum static friction moment and Coulomb friction moment, f v is the viscous damping coefficient, v s is the boundary lubrication velocity.

[0034] The friction characteristics are comprehensively reflected by using three nonlinear characteristics, which are:

[0035]

[0036]

[0037]

[0038] Equivalent nonlinear link N eq The description function of is the sum of the description function of the double relay and the description function of the inherent friction torque of the system:

[0039]

[0040] The identification process of the present invention is completed in three stages, as sh...

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Abstract

The invention relates to a limit cycle oscillation-based rapid friction identification method of an electromechanical servo system. The method comprises the steps of firstly, respectively describing a linear model of the electromechanical servo system and an unknown friction module of a parameter by mathematical expressions; secondly, enabling the system to generate self-oscillation by adjusting gains of two relays, and measuring data of periodic motion; and finally, performing arithmetical operation according to a principle formula obtained by a harmonic balance condition, and calculating the parameter of the friction model. By the method, the friction model of the electromechanical servo system can be rapidly and accurately identified, a mathematical model can be provided for design of the servo control system, and the design efficiency of the electromechanical servo system is improved. Since the method is small in computation, an excitation signal is not needed to meticulously design, and the method is convenient and rapid, is easy to implement and is suitably used for the design of a high-precision electromechanical servo system.

Description

technical field [0001] The invention belongs to the technical field of system identification, and relates to a fast friction identification method based on limit cycle oscillation of an electromechanical servo system. Background technique [0002] Friction is one of the main factors affecting the control performance of electromechanical servo systems, especially high-precision servo control systems. In order to eliminate the influence of friction on the electromechanical servo system, the friction is usually identified first, and then compensated according to the mathematical model of friction. Fast and accurate identification of the friction model of the electromechanical servo system can improve the design efficiency of the servo system and is the basis for the optimization of control performance. [0003] The friction identification of the existing electromechanical servo system must design a suitable input signal, and the control mechanism performs multiple constant spe...

Claims

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Application Information

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IPC IPC(8): H02P21/05H02P21/14
CPCH02P21/05Y02P80/10
Inventor 张新勇冉承平刘昇杨光杨渊强
Owner LUOYANG INST OF ELECTRO OPTICAL EQUIP OF AVIC
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