航空遥感惯性稳定平台LuGre摩擦参数的分步辨识

曾德林; 肖凯; 林竹翀; 张立

doi:doi:10.3788/ope.20162405.1148

光学精密工程, 2016, 24 (5): 1148, 网络出版: 2016-06-15

航空遥感惯性稳定平台LuGre摩擦参数的分步辨识

Sub-step identification of LuGre friction parameters of inertially stabilized platform for airborne remote sensing

论文大纲

曾德林 ^*肖凯林竹翀张立

作者单位

国防科学技术大学航天科学与工程学院, 湖南长沙 410073

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

A preliminary and accurate LuGre friction parameter identification method was put forward to improve the control precision of an inertially stabilized platform for airborne remote sensing due to its limited gimbal angular motion. From the digital control system, the parameter identification system of a friction model was constructed to transform the identification problem into that of a curve fitting. By limiting the amplitude and frequency of a input signal, the difficulties of parameter identification of friction model caused by the limited gimbal angular motion were solved. On the basis of the digital control system, the linear friction parameter was preferentially identified. Then, according to the stationary and dynamic characteristics of LuGre model, a sub-step bi-directional approach and a sub-step searching method were proposed to identify the remaining friction parameters in turn, and the preliminary identification was completed. Furthermore, the accurate identification was achieved by making full use of preliminary identification results and genetic algorithm. Simulation results indicate that parameter errors of preliminary identification are less than 5% while that of accurate identification are down to 0.7%. After adding a friction compensator designed by identified friction parameters, the ability to suppress the interference caused by low frequency angular motion of a base is improved by 4 times. An experiment for the identification and compensation of friction parameters based on a principle prototype, and the results show that the control precision of system is double that of the traditional one, which verified that the validity of identification method proposed and its engineering meanings.

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曾德林, 肖凯, 林竹翀, 张立. 航空遥感惯性稳定平台LuGre摩擦参数的分步辨识[J]. 光学精密工程, 2016, 24(5): 1148. ZENG De-lin, XIAO Kai, LIN Zhu-chong, ZHANG Li. Sub-step identification of LuGre friction parameters of inertially stabilized platform for airborne remote sensing[J]. Optics and Precision Engineering, 2016, 24(5): 1148.

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