發(fā)布時(shí)間：2018-08-24 12:56

【摘要】：摩擦模型參數(shù)辨識(shí)在機(jī)械工程設(shè)計(jì)、控制、系統(tǒng)優(yōu)化等方面均發(fā)揮重要作用,針對(duì)無法通過恒速法獲取摩擦力的機(jī)械系統(tǒng)(譬如汽車轉(zhuǎn)向系統(tǒng)),本文以Stribeck摩擦模型為原型提出一種辨識(shí)其摩擦參數(shù)的方法。首先,基于能量法則將參數(shù)辨識(shí)問題轉(zhuǎn)化為參數(shù)優(yōu)化問題,并根據(jù)優(yōu)化目標(biāo)的結(jié)構(gòu)特點(diǎn),分別設(shè)計(jì)了最小二乘法和遺傳算法兩種辨識(shí)算法。其次,利用Matlab/Simulink搭建含Stribeck摩擦模塊的單自由度和兩自由度運(yùn)動(dòng)仿真系統(tǒng),并針對(duì)最小二乘法和遺傳算法的優(yōu)化條件設(shè)計(jì)了運(yùn)動(dòng)方案,仿真結(jié)果驗(yàn)證了能量法則的正確性與所提出參數(shù)辨識(shí)方法的有效性。再次,以循環(huán)球轉(zhuǎn)向?qū)嶒?yàn)臺(tái)架為應(yīng)用對(duì)象,建立包含Stribeck摩擦模型的系統(tǒng)動(dòng)力學(xué)方程,并結(jié)合本文所設(shè)計(jì)的參數(shù)辨識(shí)方法確定該轉(zhuǎn)向系統(tǒng)摩擦實(shí)驗(yàn)方案。最后,設(shè)計(jì)了具體的轉(zhuǎn)向系統(tǒng)實(shí)驗(yàn)方案并依次實(shí)施,對(duì)實(shí)驗(yàn)結(jié)果采用遺傳算法逐個(gè)辨識(shí)出系統(tǒng)各摩擦模塊的摩擦參數(shù),通過相對(duì)誤差分析和系統(tǒng)綜合分析論證了參數(shù)辨識(shí)結(jié)果準(zhǔn)確可信,并驗(yàn)證了本文所提出的方法對(duì)汽車轉(zhuǎn)向系統(tǒng)摩擦參數(shù)辨識(shí)切實(shí)可行。
[Abstract]:Friction model parameter identification plays an important role in mechanical engineering design, control, system optimization, etc. For mechanical system (such as automobile steering system) which can not obtain friction force by constant speed method, this paper presents a method to identify friction parameters based on Stribeck friction model. Firstly, the parameter identification problem is transformed into the parameter optimization problem based on the energy rule, and two identification algorithms, least square method and genetic algorithm, are designed according to the structural characteristics of the optimization objective. Secondly, the motion simulation system of single degree of freedom and two degrees of freedom with Stribeck friction module is built by using Matlab/Simulink, and the motion scheme is designed according to the optimization conditions of least square method and genetic algorithm. Simulation results verify the correctness of the energy rule and the validity of the proposed parameter identification method. Thirdly, the system dynamic equation including Stribeck friction model is established, and the friction experimental scheme of the steering system is determined by using the parameter identification method designed in this paper. Finally, the specific experiment scheme of steering system is designed and implemented in turn. The friction parameters of each friction module of the system are identified one by genetic algorithm. Through the relative error analysis and the system comprehensive analysis, it is proved that the parameter identification results are accurate and credible, and it is proved that the method proposed in this paper is feasible for automobile steering system friction parameter identification.
【學(xué)位授予單位】：廣西大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：TH117.1

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本文編號(hào)：2200887