1.Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin 150080, China;
2.School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China
Abstract:In order to solve the problem of nonlinear friction interference that affects the tracking performance of electro-hydraulic servo system, an improved glowworm swarm algorithm is proposed to identify the parameters of friction model by combining adaptive step size with inertia factor. The glowworm swarm which has lost the ability to move is randomly optimized, and the global parallel search ability is introduced to improve the optimization ability of the glowworm swarm algorithm. Through function optimization and parameter identification tests, the results show that the improved glowworm swarm algorithm has better optimization performance. Finally, a friction state observer is built based on the identification model. For the chattering phenomenon of velocity zero in the simulation, the SIGMOID function is introduced to modify the friction observer. The experimental results show that the modified feedforward fuzzy controller can effectively restrain the adverse effects of friction on the servo system and further improve the tracking performance of the servo system.
高炳微1,2,申伟1,2,戴野1,2,叶永泰1,2. 基于改进萤火虫算法的摩擦模型参数辨识及补偿[J]. 振动与冲击, 2023, 42(6): 69-78.
GAO Bingwei1,2,SHEN Wei1,2,DAI Ye1,2,YE Yongtai1,2. Parameter identification and compensation of a friction model based on improved glowworm swarm optimization. JOURNAL OF VIBRATION AND SHOCK, 2023, 42(6): 69-78.
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