全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...

利用支持向量机的摩擦模型参数辨识

DOI: 10.11830/ISSN.1000-5013.2010.02.0132, PP. 132-135

Keywords: 摩擦模型,参数辨识,支持向量机,伺服系统

Full-Text   Cite this paper   Add to My Lib

Abstract:

以Tustin摩擦模型为参数辨识对象,提出一种基于支持向量机算法的摩擦模型参数辨识的方法.构建训练样本并选取适当的支持向量机模型,选择具有较好泛化能力的径向基核函数和具有稀疏性特点的ε不敏感损失函数,以求解最优化问题,得到最优解.以某直流电机高精度位置伺服系统为对象,用辨识得到的参数估计值设计摩擦力矩的补偿环节,对系统进行补偿,仿真结果表明,算法的辨识精度比较高.

References

[1]  ARMSTRONG B, DUPONT P, CANUDAS C. A survey of models, analysis tools and compensation methods for the control of machines with friction [J]. Automatica, 1994(7):1083-1138.
[2]  LEE S W, KIM J H. Friction identification using evolution strategies and robust control of positioning tables [J]. ASME Journal of Dynamic Systems, Measurement, and Control, 1999(4):619-624.doi:10.1115/1.2802525.
[3]  YANG S, TOMIZUKA M. Adaptive pulse width control for precise positioning under influence of sticktion and coulomb friciton [J]. ASME Journal of Dynamic Systems, Measurement, and Control, 1988, (43):221-227.
[4]  PARK E C, LIM H, CHOI C H. Position control of X-Y table at velocity reversal using presliding friction characteristics [J]. IEEE Transactions on Control Systems Technology, 2003(1):24-30.
[5]  OLSON H, ASTROM K J, DE WIT C C. Friction models and friction compensation [J]. European Journal of Control, 1998(3):176-195.
[6]  WANG G L, LI Y F, BI D X. Support vector machine network for friction modeling [J]. IEEE/ASME Transactions on Mechatronics, 2003, (4/6):2833-2838.
[7]  VAPNIK V N. Statistical learning theory [M]. New York:wiley, 1998.
[8]  FRIEDLAND B, PARK Y J. On adaptive friction compensation [J]. IEEE Transactions on Automatic Control, 1992, (10):1609-1612.doi:10.1109/9.256395.
[9]  PHILLIPS S M, BALLOU K R. Friction modeling and compensation for an industrial robot [J]. Journal of ROBOTIC SYSTEMS, 1993(7):947-971.
[10]  WIT C C, OISSON H, ASTROM K J. A new model for control of systems with friction [J]. IEEE Transactions on Automatic Control, 1995(3):419-425.doi:10.1109/9.376053.
[11]  FEEMSTER M, VEDAGARBHA P, DAWSPM D M. Adaptive control techniques for friction compensation [J]. Mechatronics, 1998, (21/26):1488-1492.
[12]  LIAO T L, CHIEN T I. An exponentially stable adaptive friction compensator [J]. IEEE Transactions on Automatic Control, 2000(5):977-980.doi:10.1109/9.855565.
[13]  MOREL G, IAGMEMMA K, DUBOWSKY S. The precise control of manipulators with high joint-friction using base force/torque sensing [J]. Automatica, 2000(7):931-941.
[14]  LEE H S, TOMIZUKA M. Robust motion controller design for high-accuracy positioning systems [J]. IEEE Transactions on Control Systems Technology, 1996(1):48-55.doi:10.1109/41.481407.
[15]  李秀英, 韩志刚. 非线性系统辨识方法的新进展 [J]. 自动化技术与应用, 2004, (10):5-7.doi:10.3969/j.issn.1003-7241.2004.10.002.

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133