第24卷第5期 2016年5月
文章编号
1004-924X(2016)05-1148-11
光学精密工程
Optics and Precision Engineering
Vol,24No.5
May.2016
航空遥感惯性稳定平台LuGre摩擦参数的分步瓣识
曾德林*，肖凯，林竹，张立
（国防科学技术大学航天科学与工程学院，湖南长沙410
摘要：由于航空遥感惯性稳定平台框架角运动受限，本文提出了基于LuGre摩擦模型行参数初步和精确辨识的方法以进一步提高其控制精度。从数字控制系统出发，构建了摩撤参数辨识系统，把摩撤参数辨识向题转化为曲线拟合间题。通过限定输人信号幅值和频率，解决了框架角运动受限导致摩擦参数辨识困难的问题，结合数字控制系统特性，优先辨识摩擦线性项参数；根据摩擦静态和动态特性，提出分步夹逼和分步慢索法依次识剩余参数，完成初步辨识。然后代人初步辨识结果，用遗传算法完成摩擦参数的精确辨识。份真结累表明：廖燕参数初步辨识误差小于5%，精确辨
识误差小于0.7%；用辨识出的摩擦参数构建摩擦补偿器，系统对基座低频介运
于某原理样机开展了摩擦参数辨识和补偿实验，结果表明控制精送提度实用意义。
开扰的抑制能力提高了4倍。最后，基
，证了提出的辨识方法的有效性和工程
（步研误遗传养达，镁摩擦补偿
关键词：航空遂感；惯性稳定平台，LuGre模型；牙量
中图分类号：TP273
文献标识码：A
doi:10.3788/0py.201684
148
Sub-step identificatign orLuGre friction parameters
of inertially stabilized piatforyfor airborne remote sensing
ZENGDe-I
XAQKai,LINZhu-chong，ZHANGLi
(CollegeXAerokpaceScienceandEngineering,
NationalUrersityfDeenceTechnology，Changsha410073,China)
*Corkesxondingauthor，E-mail:18670387476@163.com
Abstract:Aprelimjnary
ao
fate LuGre friction parameter identification method was put forward
to improve the
cpqtral precisiyn of an inertially stabilized platform for airborne remote sensing due to
itslimitedgimb
ngular motion. From the digital control system, the parameter identification
system of arictiornddel was constructed to transform the identification problem into that of a curve fitting.By Iiyngthe amplitude and frequency of a input signal,the difficulties of parameter
ifkation oMfrigtion model caused by the limited gimbal angularmotion were solved.On thebasis
identif
of th digital corftrol system, the linear friction parameter was preferentially identified. Then, agcordink t& the stationary and dynamic characteristics of LuGre model, a sub-step bi-directional aprdpeh_anga sub-step searching method were proposed to identify the remaining friction parameters in rokn,and the preliminary identification was completed.Furthermore, the accurate identification was asbfeved by making full use of preliminary identification results and genetic algorithm, Simulation
收稿日期：2016-01-22；修订日期：2016-04-08.
基金项目：国家白然科学基金青年基金资助项目(No.61503395)