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工程设计学报
Chinese Journal of Engineering Design  2016, Vol. 23 Issue (5): 431-436    DOI: 10.3785/j.issn.1006-754X.2016.05.005
    
The friction modeling and feed-forward compensation based on differential evolution algorithm
HU Jing-jing1, LI Guo-yong1, ZHANG Yan-long2
1. College of Information Engineering, Taiyuan University of Technology, Taiyuan 030024, China;
2. School of Mechanical and Power Engineering, North University of China, Taiyuan 030051, China
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Abstract  

Friction which reduces the tracking precision is a kind of external perturbation when the linear motor is running. The design of feed-forward compensator based on friction model is an important means to realize friction inhibition. Firstly, the characteristics of the friction was analyzed and the appropriate friction model was choosen. Secondly, speed feed-forward controller and acceleration feed-forward controller were designed to improve the tracking performance of the machine. With measured friction values of the motor under different speeds, the friction model parameters were identified through differential evolution algorithm, and the feed-forward controller was designed to achieve the friction suppression of the permanent magnet synchronous linear motor. Simulation results showed that the friction model accurately described the characteristics of the tested linear motor, and the designed feed-forward controller based on the friction model which identified by this algorithm effectively eliminated the speed stick-slip phenomenon caused by friction and reduced the location tracking error.

Key words： linear motor      friction feed-forward compensation      velocity feed-forward      acceleration feed-forward      differential evolution algorithm     
Received: 26 February 2016      Published: 28 October 2016
CLC:  TP273  
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HU Jing-jing
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Cite this article:

HU Jing-jing, LI Guo-yong, ZHANG Yan-long. The friction modeling and feed-forward compensation based on differential evolution algorithm. Chinese Journal of Engineering Design, 2016, 23(5): 431-436.

URL:

https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2016.05.005     OR     https://www.zjujournals.com/gcsjxb/Y2016/V23/I5/431


基于差分进化算法的摩擦力建模与前馈补偿

摩擦力是电机运行时受到的外部扰动，会降低直线电机的跟踪精度.根据摩擦模型设计前馈补偿器是降低摩擦影响的重要方法.首先分析摩擦特性，选用合适的摩擦模型.其次设计电机速度前馈控制器和加速度前馈控制器，提高电机的跟踪性能.根据测得的电机在不同速度下的摩擦力值，运用差分进化算法辨识直线电机的摩擦模型参数，以此设计前馈控制器，实现永磁同步直线电机的摩擦抑制.仿真结果表明，摩擦模型能准确描述被测直线电机的摩擦特性，基于摩擦模型辨识结果设计出的摩擦前馈控制器可以有效地消除摩擦力引起的速度粘滑现象并且减小电机的位置跟踪误差.


关键词： 直线电机,  摩擦前馈补偿,  速度前馈,  加速度前馈,  差分进化算法 

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