| 刘柏希.基于改进链码法的LuGre摩擦模型动态参数辨识[J].计算力学学报,2012,29(2):279~283 |
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| 基于改进链码法的LuGre摩擦模型动态参数辨识 |
| Parameters identification for LuGre friction model based on modified chain code recognition method |
| 投稿时间：2010-10-29 修订日期：2011-04-25 |
| DOI：10.7511/jslx20122022 |
| 中文关键词: 改进链码法 参数辨识 LuGre摩擦模型 曲线配准 特征参数 |
| 英文关键词:modified chain code parameter recognition LuGre friction model image match shape characteristic identification |
| 基金项目:国家自然科学基金(50905151);湖南省教育厅科研 (08C869);湘潭大学博士科研启动(08QDZ16) 资助项目. |
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| 中文摘要: |
| 针对现有LuGre摩擦模型动态参数辨识方法辨识精度不高,收敛性难以保证及参数初值难以确定等不足,提出了一种基于改进链码特征识别法的参数辨识方法。首先,研究LuGre摩擦模型中两个动态参数-鬃毛刚度系数与阻尼系数之间的关系,以及鬃毛刚度系数与预滑动阶段位移-摩擦力曲线形状之间的对应关系;然后,改进现有Freeman链码的采样方式和码间距,利用改进的链码结合傅立叶描绘子提取位移-摩擦力曲线的形状特征并形成特征向量;最后,以加噪声原始位移-摩擦力曲线和仿真位移-摩擦力曲线的特征向量为参数建立度量两曲线相似程度的欧氏距离,寻优得到使欧氏距离满足给定误差的仿真位移-摩擦力曲线,该曲线对应的鬃毛刚度系数即为其辨识值,进一步可计算出阻尼系数。文末给出的辨识实例验证了提出方法的正确性和有效性。 |
| 英文摘要: |
| Aimed at the shortcoming of traditional parameters identification methods for LuGre friction model,a new parameters identification method based on genetic algorithms and modified chain code recognition method was presented.Firstly,LuGre friction model was briefly introduced.Secondly,the optimization objective function with measured and simulated friction force in stead state was established.Thirdly,the relationships among displacement-friction force curve in presliding regime,stiffness coefficient and damping coefficient of LuGre friction model were studied.Many displacement-friction force curves with different shape were simulated using different stiffness coefficients.The shape characteristics of those simulated displacement-friction force curves were extracted using modified chain code and Fourier descriptor.The Euclidean distance based on shape characteristics was employed as the measurement of similar degree between measured displacement-friction force curves and simulated displacement-friction force curves.When the distance is less than the given error,the corresponding stiffness coefficient of simulated displacement-friction force curve is regarded as the true one.In the end,a numerical example was given to show the correctness and effectiveness of the presented method. |
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