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

被引：0
|
作者：
Gao B. [1 ,2 ]
Shen W. [1 ,2 ]
Dai Y. [1 ,2 ]
Ye Y. [1 ,2 ]
机构：
[1] Key Laboratory Oi Advanced Manufacturing and Intelligent Technology, Harbin University of Science and Technology, Ministry of Education, Harbin
[2] School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin
来源：
Zhendong yu Chongji/Journal of Vibration and Shock | 2023年 / 42卷 / 06期
关键词：
friction compensation; friction model; glowworm swarm optimization; parameter identification; SIGMOID function;
D O I：
10.13465/j.cnki.jvs.2023.06.009
中图分类号：
学科分类号：
摘要：
In order to solve the problem of nonlinear friction interference that affects the tracking performance of an electro-hydraulic servo system, an improved glowworm swarm algorithm was proposed to identify the parameters of the friction model by combined use of the adaptive step size and the inertia factor. The glowworm swarm which had lost the ability to move was picked out by using random optimization, and the global parallel search ability was 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 was built based on the identification model. For the chattering phenomenon at the velocity zero point in the simulation, the SIGMOID function was 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. © 2023 Chinese Vibration Engineering Society. All rights reserved.
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页码：69 / 78
页数：9
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