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Prestiction friction compensation in direct-drive mechatronics systems

Journal of Central South University 2013年第11期20卷 3031-3041页

作者：黎志强周擎坤张智永张连超范大鹏 College of Mechatronics Engineering and Automation National University of Defense Technology

LuGre model has been widely used in friction modeling and ***,the new friction regime,named prestiction regime,cannot be accurately characterized by LuGre model in the latest *** the extensive experimental observations of friction behaviors in the prestiction,some variables were abstracted to depict the rules in the prestiction *** upon the knowledge of friction modeling,a novel friction model including the presliding regime,the gross sliding regime and the prestiction regime was then presented to overcome the shortcomings of the LuGre *** reason that LuGre model cannot estimate the prestiction friction was analyzed in *** analysis of the proposed model in modeling the prestiction friction was also addressed.A parameter identification method for the proposed model based on multilevel coordinate search algorithm was *** proposed friction compensation strategy was composed of a nonlinear friction observer and a feedforward *** friction observer was designed to estimate the friction force in the presliding and the gross sliding *** the friction force was estimated based on the model in the prestiction *** comparative trajectory tracking experiments were conducted on a simulator of inertially stabilization platforms among three control schemes:the single proportional–derivative(PD)control,the PD with LuGre model-based compensation and the PD with compensator based on the presented *** experimental results reveal that the control scheme based on the proposed model has the best tracking *** reduces the peak-to-peak value(PPV)of tracking error to 0.2 mrad,which is improved almost 50%compared with the PD with LuGre model-based *** to the single PD control,it reduces the PPV of error by 66.7%.

关键词： prestiction friction LuGre model multilevel coordinate search friction compensation inertially stabilization platforms

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Parameter identification of inertially stabilized platforms using current command design

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Journal of Central South University 2013年第2期20卷 342-353页

作者：黎志强张智永周擎坤范大鹏 College of Mechatronics Engineering and Automation National University of Defense Technology

Accurate parameter identification is essential when designing controllers for inertially stabilized platforms （lSPs）. But traditional identification methods suffer from observation measurement noise and operating restrictions of ISPs. To address this issue, a novel identification method based on current command design and multilevel coordinate search （MCS） algorithm without any higher order measurement differentiations was proposed. The designed current commands were adopted to obtain parameter decoupled models with the platform operating under allowable conditions. MCS algorithm was employed to estimate the parameters based on parameter decoupled models. A comparison experiment between the proposed method and non-linear least square method was carried out and most of the relative errors of identified parameters obtained by the proposed method were below 10%. Simulation and experiment based on identified parameters were conducted. A velocity control structure was also developed with disturbance observer （DOB） for application in disturbance compensation control system of an ISR Experimental results show that the control scheme based on the identified parameters with DOB has the best disturbance rejection performance. It reduces the peak to peak value （PPV） of velocity error integral to 0.8 mrad which is much smaller than the value （10 mrad） obtained by the single velocity controller without DOB. Compared with the control scheme based on sweep model with DOB compensation, the proposed control scheme improves the PPV of velocity error integral by 1.625 times.

关键词： parameter identification current command design multilevel coordinate search inertially stabilized platforms

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