基于改进萤火虫算法的摩擦模型参数辨识及补偿

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振动与冲击 ›› 2023, Vol. 42 ›› Issue (6) : 69-78.

论文

高炳微1,2，申伟1,2，戴野1,2，叶永泰1,2

作者信息 +

Parameter identification and compensation of a friction model based on improved glowworm swarm optimization

GAO Bingwei1,2，SHEN Wei1,2，DAI Ye1,2，YE Yongtai1,2

Author information +

文章历史 +

摘要

针对影响电液伺服系统跟踪性能的非线性摩擦干扰问题，提出了一种改进的萤火虫算法对摩擦模型的参数进行辨识，通过将自适应步长和惯性因子相结合，对丧失移动能力的萤火虫进行随机优化处理，并引入全局并行搜索能力，提高了萤火虫算法的寻优能力。通过函数寻优和参数辨识测试，结果表明改进的萤火虫算法具有更好的寻优性能。最后基于辨识模型搭建摩擦状态观测器，对于仿真中速度零点的抖振现象，引入SIGMOID函数修正摩擦观测器，实验结果表明，经修正的前馈模糊控制器可以有效地抑制摩擦对伺服系统的不利影响，进一步提高伺服系统的跟踪性能。

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.

导出引用

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[J]. Journal of Vibration and Shock, 2023, 42(6): 69-78

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