摘要
为了减少帆板驱动机构(SADA)对太阳帆板的激励作用和降低摩擦的影响,以永磁同步电机作为驱动源,提出了一种基于Lu Gre模型的摩擦参数辨识和补偿方法.为了能够准确的进行摩擦参数的试验辨识,设计了SADA系统摩擦力矩测试平台两者相结合进行了试验辨识,并将试验辨识所得到的摩擦模型参数代入SADA驱动系统模型中.通过仿真和试验表明:试验辨识较准确,且摩擦补偿后的SADA系统消除了正弦跟踪中速度过零时的波形畸变现象,能够有效改善SADA系统的动态性能.
In order to improve the flexible vibration resulting from solar array,the PMSM（ permanent magnet synchronous motor） is chosen to be the drive sources. A method of friction parameter identification and friction compensation is brought forward based on the Lu Gre model. Both static and dynamic parameters of the model are identified via the particle swarm optimization（ PSO） algorithm. A friction torque measuring platform is designed,combined with which the proposed identification method is used to the test identification. From the comparison of simulation and test,the accuracy of the identification method is verified. The method is used to compensate the friction of SADA system,and the test results show that the method can improve the system＇s tracking performance and decease the influences of friction.
出处
《空间控制技术与应用》
CSCD
北大核心
2016年第2期14-19,共6页
Aerospace Control and Application
基金
国家自然科学基金资助项目(61573060)
