Ls-Svr Based Nonlinear Modeling and Compensation for Friction

摘要：

A modeling and compensation method based on the least squares support vector regression (LS-SVR) is proposed for nonlinear friction existed in the permanent magnet synchronous motor (PMSM) servo systems. The system dynamics as well as LuGre friction model is first established,based on which the nonlinear phenomena introduced by friction is simulated in different input signals. Then,compensation model is obtained by training a set of input/output sample using LS-SVR,which can be applied without a priori knowlegde of the plant. Simulation results show that when the LS-SVR compensation model is added into the system,the adverse effect caused by the friction nonlinearity can be effectively eliminated.

关键词： LuGre friction model friction compensation least squares support vector regression

作者: Peng Lei Ren Xuemei

作者单位: School of Automation,Beijing Institute of Technology,Beijing 100081,China

会议类型: 国际会议

会议名称: 2011 International Conference on Opto-Electronics Engineering and Information Science(2011光电电子工程与信息科学国际会议 ICOEIS 2011)

会议地点: 西安

会议语种:英文

页码: 1938-1943

在线出版日期: 2011-12-23（万方平台首次上网日期，不代表论文的发表时间）