CN113110305B - Friction modeling method of electromechanical system and application thereof - Google Patents
Friction modeling method of electromechanical system and application thereof Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
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Abstract
The invention discloses a friction force modeling method of an electromechanical system and application thereof, belonging to the field of electromechanical system dynamics analysis, wherein the modeling method comprises the following steps: setting a speed threshold, and performing linear fitting on the friction force of the electromechanical system when the speed of the electromechanical system is between a speed zero point and the speed threshold to obtain a low-speed section friction model; and when the speed of the electromechanical system is greater than the speed threshold value, carrying out nonlinear fitting on the friction force of the electromechanical system to obtain a high-speed section friction model. The method is characterized in that a speed threshold is set aiming at the condition that the direction and the size of the friction force at the position where the speed of the electromechanical system is zero are uncertain, linear fitting is carried out between the speed zero and the threshold, nonlinear fitting is carried out on a high-speed section by introducing a viscous friction attenuation coefficient aiming at the condition that viscous friction at high speed is attenuated, and a friction model is improved, so that the positioning accuracy of the electromechanical system is improved.
Description
Technical Field
The invention belongs to the field of electromechanical system dynamics analysis, and particularly relates to a friction force modeling method of an electromechanical system and application thereof.
Background
Friction is a complex non-linear physical phenomenon that arises between contacting interfaces with relative motion. For centuries, the phenomenon of friction has attracted many scholars to study it systematically and in engineering practice people work with friction, such as car tyres, clutches, brake pads, etc. However, in the case of precision mechanical systems such as robots and numerically controlled machine tools, the friction causes disadvantages such as stick-slip, limit ring oscillation, and tracking error. As the demands on the positioning accuracy of mechanical systems continue to increase, it becomes a challenging task to eliminate the effects of friction to the greatest extent. Many scholars and technicians use various methods such as improving the surface condition of the contact surfaces, increasing the degree of lubrication between the contact surfaces, and using various friction compensation techniques. The compensation technology based on the friction model is an effective method commonly used in the field of mechanical control at present, but the premise is that a correct, reasonable, simple and effective friction model is established for the friction phenomenon existing in a mechanical system.
The friction widely exists in electromechanical systems such as numerical control, automobiles, robots and medical treatment, in the research of the working condition of a feeding system of a machine tool, the main standard for evaluating the performance of a servo system is positioning accuracy and repeated positioning accuracy, for a high-accuracy servo system, the friction is a main factor influencing the accuracy of the system, the nonlinear factor makes the system difficult to control accurately, particularly the low-speed crawling phenomenon can occur during low-speed movement, the positioning accuracy of the system is reduced, and meanwhile, the system can generate larger following errors during high-speed movement. Under the trend of high-speed and high-precision development of the numerical control machine tool, the research on the friction characteristics of the high-precision positioning system cannot be ignored.
Therefore, the existing electromechanical system has the technical problems of low positioning precision during low-speed movement and large following error during high-speed movement.
Disclosure of Invention
Aiming at the defects or improvement requirements of the prior art, the invention provides a friction modeling method of an electromechanical system and application thereof, so that the technical problems of low positioning precision during low-speed movement and large following error during high-speed movement of the conventional electromechanical system are solved.
To achieve the above object, according to one aspect of the present invention, there is provided a frictional force modeling method of an electromechanical system, including:
setting a speed threshold, and performing linear fitting on the friction force of the electromechanical system when the speed of the electromechanical system is between a speed zero point and the speed threshold to obtain a low-speed section friction model;
and when the speed of the electromechanical system is greater than the speed threshold value, carrying out nonlinear fitting on the friction force of the electromechanical system to obtain a high-speed section friction model.
Further, the method further comprises:
and performing parameter identification on a friction model formed by the low-speed section friction model and the high-speed section friction model to obtain an optimal friction model.
Further, the specific implementation manner of the parameter identification is as follows:
acquiring friction forces corresponding to different speeds in the operation process of the electromechanical system, inputting the acquired speeds into the friction model to obtain simulated friction forces, and optimizing parameters of the friction model by taking the minimum difference between the simulated friction forces and the acquired friction forces as a target to obtain optimal parameters for constructing the optimal friction model.
Further, the method further comprises:
and inputting different speeds into the friction model constructed by using the optimal parameters to obtain a plurality of friction forces, forming a curve by using the different speeds and the corresponding friction forces, and constructing the optimal friction model by using the optimal parameters when the curve fitting variance is smaller than a preset value and the curve trend meets the stribeck characteristic and the optimal parameters meet the requirements.
Further, the friction model is:
wherein, Ff_propAs friction force, FsAt maximum static friction force, FcIs coulomb friction, F (v) is stribeck friction, b is viscous friction coefficient, vsStribeck velocity, δsIs an empirical constant, v is the relative sliding velocity, α is an exponential decay factor, vcIs a speed threshold.
Further, the value range of the exponential decay factor α is: alpha is more than 0 and less than 1.
Further, the speed threshold vcIs 0.1 to 0.3 times the stribeck speed.
According to another aspect of the present invention, there is provided a friction model-based compensation system comprising: an electromechanical system, a friction model and a compensation controller,
the friction model is established by a friction modeling method of the electromechanical system, and is used for simulating to obtain friction force aiming at different speeds in the operation process of the electromechanical system;
and the compensation controller is used for performing feedforward compensation on the electromechanical system according to the friction force obtained by simulation.
In general, compared with the prior art, the above technical solutions conceived by the present invention can achieve the following beneficial effects:
(1) in the process of dynamic analysis, the classical Stribeck model needs to switch among several equations according to the relative sliding speed to describe the friction force, so that the switching point needs to be judged and the zero speed needs to be detected in simulation or control, and the method is difficult; meanwhile, viscous friction attenuation often occurs in electromechanical systems such as a machine tool feeding system and the like in a high-speed state, and the phenomenon cannot be accurately described by a classical stribeck model. The invention sets a speed threshold value aiming at the condition that the direction and the size of the friction force at the zero speed of the electromechanical system are uncertain, and performs linear fitting between the speed zero point and the threshold value, thereby solving the technical problem that the existing electromechanical system has low positioning precision when moving at low speed. Aiming at the situation of viscous friction attenuation at high speed, nonlinear fitting is carried out on a high-speed section by introducing a viscous friction attenuation coefficient, so that the technical problem that the following error of the existing electromechanical system is large when the electromechanical system moves at high speed is solved. The invention improves the friction model, thereby improving the positioning accuracy of the electromechanical system.
(2) The invention optimizes the parameters of the friction model with the aim of minimizing the difference between the simulated friction force and the acquired friction force, has high identification speed, and further judges whether the parameters meet the requirements after identification, thereby further improving the accuracy of the identification result.
(3)0≤v≤vcThe state is quasi-static, and at this time, two objects which are in contact are considered to have no relative movement. The driving force is gradually increased until the friction force is overcome in the starting process of the common electromechanical system, and the driving force is controlled to pass through the speed zero point and the threshold value vcThe method is based on the principle that linear fitting is carried out between the two, and the method has positive significance on building and simulation of a dynamic model corresponding to the friction characteristic at the starting stageThe friction model of the stribeck curve is improved, the state detection at a speed zero point is avoided, and the method can be used for dynamic modeling and simulation. Aiming at the viscous friction attenuation phenomenon of the high-speed section of the electromechanical system, the exponential attenuation factor is introduced, and compared with a classical stribeck model, the fitting precision of the viscous friction attenuation factor to the friction state of the electromechanical system is higher, and the precision of dynamic analysis and simulation is improved. In the improved friction model, the friction force is a single shot of the speed, the structure is simple, and the time and the calculation cost can be effectively saved in the dynamic simulation.
(4) The invention can improve the stability of speed and the position precision of action, compensate the drift change of friction characteristics and improve the robustness of the system by modeling and predicting the friction force of the electromechanical system and further based on the feedforward compensation of the friction force.
Drawings
FIG. 1 is a flow chart of a method provided by an embodiment of the present invention;
FIG. 2 is a schematic diagram of a "uniform speed change" movement position command signal of each shaft of the machine tool provided by the embodiment of the invention;
FIG. 3 is a schematic diagram of the magnitude of the friction force of the feeding system of the numerically-controlled machine tool at different feeding speeds according to the embodiment of the invention;
FIG. 4 is a schematic diagram illustrating a principle of identifying friction parameters according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a fitting result of a classical stribeck model to a friction characteristic of a machine tool feeding system according to an embodiment of the invention;
FIG. 6 is a schematic diagram of a fitting result of a friction model with improved stribeck to a friction characteristic of a feeding system of a machine tool, provided by an embodiment of the invention;
fig. 7 is a schematic diagram of model changes after setting a threshold value according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, a method of modeling a friction force of an electromechanical system includes:
setting a speed threshold, and performing linear fitting on the friction force of the electromechanical system when the speed of the electromechanical system is between a speed zero point and the speed threshold to obtain a low-speed section friction model;
and when the speed of the electromechanical system is greater than the speed threshold value, carrying out nonlinear fitting on the friction force of the electromechanical system to obtain a high-speed section friction model.
And performing parameter identification on a friction model formed by the low-speed section friction model and the high-speed section friction model to obtain an optimal friction model.
The friction model is as follows:
wherein, Ff_propAs friction force, FsAt maximum static friction force, FcIs coulomb friction, F (v) is stribeck friction, b is viscous friction coefficient, vsIs stribeck velocity, δsIs an empirical constant, usually 1 or 2, v is the relative sliding velocity, α is an exponential decay factor, v is the relative sliding velocitycIs a speed threshold.
Further, the value range of the exponential decay factor α is: alpha is more than 0 and less than 1.
Further, the speed threshold vcIs 0.1 to 0.3 times the stribeck speed.
The electromechanical system comprises: electromechanical systems such as numerical control, automobiles, robots, medical treatment and the like.
The embodiment of the invention is based on a friction improvement model, and performs parameter identification aiming at the friction state of the machine tool feeding system to obtain a single-shaft friction model of the machine tool feeding system.
(1) Collecting friction force data of a single shaft of a machine tool at different feeding speeds
The load current of the motor is in direct proportion to the load torque, the load torque is approximately equal to the friction torque in the state of uniform motion of the machine tool, and the friction force borne by the current shaft can be indirectly obtained by measuring the load current. The "uniform speed change" position command of each shaft of the machine tool is shown in fig. 2, and the uniform speed motion is performed at different speeds, so that the friction of the current shaft at different speeds can be obtained by combining the load current. A scatter plot of friction force versus speed for a single axis feed system of a machine tool is shown in FIG. 3.
(2) Identifying shaft friction parameters based on load current and speed data
According to the established friction force model and the data collected in (1), the corresponding friction parameters can be identified by using an intelligent optimization algorithm, and the identification principle is shown in fig. 4. Taking the maximum static friction force, the coulomb friction force, the viscous friction coefficient, the stribeck speed and the exponential decay factor in the friction model as target parameters; and minimizing the deviation between the simulated friction force output by the friction force model and the actually measured friction force by using an intelligent optimization algorithm (particle swarm algorithm), continuously updating the parameters of the friction force model, and finally obtaining the identification result of the friction model parameters. And when the iteration times of the intelligent optimization algorithm reach the upper limit and the obtained optimal parameters meet the requirements, constructing a friction model by using the optimal parameters. A schematic diagram of the fitting results using the classical stribeck model is shown in FIG. 5, and the curve fitting results using the improved friction model are shown in FIG. 6. The fitting effect of the improved friction model is more consistent with the actual measurement result, and the simulation effect of the improved friction model is superior to that of the classical stribeck model.
The intelligent optimization algorithm comprises the following steps: genetic algorithm, differential evolution algorithm, immune algorithm, ant colony algorithm, particle swarm algorithm, simulated annealing algorithm, tabu search algorithm or neural network algorithm.
Meanwhile, the particle swarm optimization algorithm adopted by the identification scheme of the invention has high identification speed, and the identification can be completed in several minutes each time, thereby facilitating comparison experiments.
As shown in FIG. 7, the friction model of the present invention is linearly fit before the velocity threshold and non-linearly fit after the threshold, where v is 0. ltoreq. v.ltoreq.vcThe state is quasi-static, and at this time, two objects which are in contact are considered to have no relative movement. The classical Stribeck model requires switching among several equations according to the relative sliding speed to describe the friction force, so that the switching point needs to be judged and the zero speed needs to be detected in simulation or control, which is difficult. The driving force is gradually increased until the friction force is overcome in the starting process of the common electromechanical system, and the invention is realized by the way that the driving force is gradually increased at the speed zero point and the threshold value vcThe linear fitting is carried out between the two, so that the state detection at a speed zero point is avoided according to the friction characteristic at the starting stage, and the method has positive significance for building and simulating a dynamic model.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. A method of modeling frictional forces of an electromechanical system, comprising:
setting a speed threshold value, when the speed of the electromechanical system is between a speed zero point and the speed threshold value, the electromechanical system is in a quasi-static state, namely two contacted objects do not move relatively, and performing linear fitting on the friction force of the electromechanical system to obtain a low-speed section friction model;
when the speed of the electromechanical system is greater than a speed threshold value, carrying out nonlinear fitting on the friction force of the electromechanical system to obtain a high-speed section friction model;
the friction model is as follows:
wherein, Ff_propAs frictional force, FsAt maximum static friction force, FcIs coulomb friction, F (v) is stribeck friction, b is viscous friction coefficient, vsIs stribeck velocity, δsIs an empirical constant, v is the relative sliding velocity, α is an exponential decay factor, vcIs a speed threshold.
2. A method of modeling frictional forces in an electromechanical system according to claim 1, said method further comprising:
and performing parameter identification on a friction model formed by the low-speed section friction model and the high-speed section friction model to obtain an optimal friction model.
3. A method of modelling friction in an electromechanical system as claimed in claim 2, wherein said parameter identification is carried out by:
acquiring friction forces corresponding to different speeds in the operation process of the electromechanical system, inputting the acquired speeds into the friction model to obtain simulated friction forces, and optimizing parameters of the friction model by taking the minimum difference between the simulated friction forces and the acquired friction forces as a target to obtain optimal parameters for constructing the optimal friction model.
4. A method of modeling frictional forces in an electromechanical system according to claim 3, said method further comprising:
and inputting different speeds into the friction model constructed by using the optimal parameters to obtain a plurality of friction forces, forming a curve by using the different speeds and the corresponding friction forces, and constructing the optimal friction model by using the optimal parameters when the curve fitting variance is smaller than a preset value and the curve trend meets the stribeck characteristic and the optimal parameters meet the requirements.
5. A method of modelling the friction of an electromechanical system as claimed in claim 1 wherein the exponential decay factor α has a range of values: alpha is more than 0 and less than 1.
6. A method of modelling the friction of an electromechanical system as claimed in claim 1 wherein said threshold velocity v iscIs 0.1 to 0.3 times of stribeck speed.
7. A friction model based compensation system, comprising: an electromechanical system, a friction model and a compensation controller,
the friction model is established by a friction modeling method of the electromechanical system according to any one of claims 1 to 6, and the friction model is used for simulating and obtaining friction force aiming at different speeds in the operation process of the electromechanical system;
and the compensation controller is used for performing feedforward compensation on the electromechanical system according to the friction force obtained by simulation.
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