Friction parameters identification and compensation of LuGre model base on genetic algorithms

DOI

10.2991/isci-15.2015.33How to use a DOI?

Keywords

LuGre friction model; genetic algorithms; servo system; friction compensation.

Abstract

According to the interference of the servo system, a method is proposed that identify the parameters of LuGre friction model and compensate the friction torque base on genetic algorithms. First, establish the LuGre friction model, on the basis of the model, identify the static parameters and the dynamic parameters in turn. Second, introduce the friction compensation to the feedback control of the servo system so that to eliminate the interference and improve the system tracking accuracy and robustness.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Download article (PDF)

TY  - CONF
AU  - Yuqin Wen
AU  - Ming Chu
AU  - Hanxu Sun
PY  - 2015/01
DA  - 2015/01
TI  - Friction parameters identification and compensation of LuGre model base on genetic algorithms
BT  - Proceedings of the 2015 International Symposium on Computers & Informatics
PB  - Atlantis Press
SP  - 229
EP  - 238
SN  - 2352-538X
UR  - https://doi.org/10.2991/isci-15.2015.33
DO  - 10.2991/isci-15.2015.33
ID  - Wen2015/01
ER  -