电动舵机非线性系统的辨识研究

Study of Identification for Nonlinear System of Electronic Actuator

摘要:

针对所设计的三闭环电动舵机系统,为了提高电动舵机的控制精度,建立具有良好动态性能的电动舵机控制系统,提出了采用非线性系统辨识的方法,并且利用辨识的参数对电动舵机系统进行补偿;根据电动舵机的数学模型分别采用了前馈补偿的方法和反馈辨识的方法对系统的摩擦进行仿真建模研究,利用Lugre模型对系统的摩擦进行辨识,使得系统能够进行自适应摩擦补偿,并且将建模数据加入到电动舵机样机中进行试验验证,经过试验验证,系统的位置跟踪误差和速度跟踪误差均有大幅度减小,验证了非线性模型的准确性及补偿的有效性;试验结果证明,文章所提出的电动舵机非线性辨识研究方法可以准确地实现摩擦模型的建立,并且从该模型出发进行补偿可以有效地提高电动舵机的控制精度。

Abstract:

For the design of the three closed-loop motor servo system included position, speed and current, in order to improve the control accuracy of system and good dynamic performance of control system, the method of the nonlinear system identification is raised. According to the mathematical model of the system, the method of feedforward compensation and feedback identification is used. Lugre model for friction and the identification of backlash are applied. The system can perform adaptive friction compensation. following error of the position and speed of the system is greatly reduced. It verifies that the nonlinear model is accurate and the compensation is effective. The result of the experiment shows that the proposed identification methods can accurately realize the identification of friction and backlash. Besides, it can improve the control accuracy of electronic actuator effectively.