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Method of nonlinear friction compensation for single-motor servo system based on particle swarm algorithm

A particle swarm algorithm and nonlinear compensation technology, used in electronic commutation motor control, control systems, control generators, etc., can solve the problem of difficult to effectively estimate friction torque, difficult to achieve satisfactory results, and no description of friction torque size, etc. problem, to improve the compensation effect, solve the static tracking error, and facilitate the application.

Inactive Publication Date: 2019-11-15
NANJING UNIV OF SCI & TECH
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Problems solved by technology

With the improvement of control precision requirements, it is difficult for these two methods to achieve satisfactory results
The former method does not consider the influence of static friction. The Coulomb friction model mentioned in the paper "On the modeling of coulomb frinction" is a time-delay model in an ideal state. It does not describe the friction torque at zero speed, and it is considered that the friction The size and speed have nothing to do; the limitation of the latter method is that the disturbance observer is based on the linear system theory. Efficient estimation of precise friction torque

Method used

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  • Method of nonlinear friction compensation for single-motor servo system based on particle swarm algorithm
  • Method of nonlinear friction compensation for single-motor servo system based on particle swarm algorithm
  • Method of nonlinear friction compensation for single-motor servo system based on particle swarm algorithm

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Embodiment

[0056] According to the Stribeck friction model of the single-motor servo system, the parameters to be identified are In the offline situation, a set of constant speed is input into the single-motor servo system as an input command. The speed controller in the system adopts a PI controller, and the input speed range is selected to be -1rad / s~1rad / s, and the sampling period is 0.03 rad / s, to obtain a set of friction torque values, such as Figure 4 shown.

[0057] The parameters of initializing the particle swarm are the particle population size n is 80; the maximum number of iterations M=500; four parameters Parameter range of motion [s 1 ,s 2 ] are (0, 1), the speed range [v 1 ,v 2 ] is [-1, 1]; learning factor c 1 =1.2,c 2 = 1.8, the results of offline identification of the Stribeck friction model by particle swarm optimization are shown in Table 1 below:

[0058] Table 1 Identification results of Stribeck friction model

[0059]

[0060] It can be seen from Ta...

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Abstract

The invention discloses a method of nonlinear friction compensation for a single-motor servo system based on a particle swarm algorithm. The method comprises the following processes: rotational speedand friction torque data of the single-motor servo system are acquired in an offline mode; based on the rotational speed and friction torque data acquired in an offline mode, the particle swarm algorithm is used for parameter identification on a Stribeck friction model, and the identified Stribeck friction model is acquired; the single-motor servo system runs in an online mode, the friction torqueis acquired in real time according to the identified Stribeck friction model, the friction torque is compensated to a current signal through a feedforward coefficient, a feedforward compensation structure based on the Stribeck friction model is constructed, and by using the structure, nonlinear friction compensation for the single-motor servo system can be realized. The method improves the tracking accuracy of the motor servo system when tracking a sinusoidal signal, and can effectively solve the problem of static tracking errors in the system due to friction nonlinearity. The overall methodis simple and convenient to apply.

Description

technical field [0001] The invention relates to the field of motor control, in particular to a friction nonlinear compensation method for a single motor servo system based on particle swarm algorithm. Background technique [0002] In the motor servo system, due to some inherent mechanical characteristics of the transmission device, the system often exhibits friction nonlinearity. For the servo system, friction nonlinearity will have a certain influence on the dynamic performance and steady-state accuracy of the system. And for some high-precision servo systems, the impact caused by friction nonlinearity will be even greater. [0003] The non-linear factor of friction is mainly caused by relative motion between bearing components or between two parts with contact surfaces. Friction models can be divided into two categories: static models and dynamic models. [0004] In a servo system, the friction nonlinearity will have a great influence on the control performance of the s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P21/00H02P21/14H02P25/02
CPCH02P21/00H02P21/14H02P25/02
Inventor 吴益飞张翠艳刘洋郭健陈庆伟高熠李胜宋恺高珺宁靳懿
Owner NANJING UNIV OF SCI & TECH
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