The Friction Parameter Identification Of DC Servo System Based On Dynamic Step Length Cuckoo Algorithm

DC servo motor is an important driving device in electromechanical system,and the time-varying friction is one of the main disturbances that affect its control performance.Therefore,it is of practical significance to identify and compensate friction parameters to improve the control performance of servo system.Cuckoo search(CS)algorithm in swarm intelligence has the advantages of good global search ability,good search path and multi-objective problem solving ability.In this paper,the accuracy of friction parameter identification of DC servo system is improved by improving the optimization performance of CS algorithm.The main works are as follows:(1)The mathematical model of DC servo system with friction effect is studied.By comparing and analyzing the friction models of Stribeck and LuGre,a more accurate identification model of steady-state friction parameters of servo system is obtained.(2)In order to improve the performance of the basic CS algorithm,an adaptive discovery probability CS algorithm based on simulated annealing Boltzmann selection mechanism and a dynamic step size CS algorithm based on iterative optimal value are proposed and analyzed theoretically.Six test functions are used to simulate and analyze the improved algorithm.The simulation results are compared with those of particle swarm optimization,chicken swarm optimization and CS algorithm.The advantages and disadvantages of the improved algorithm are compared in terms of optimization process,accuracy,time,stability and efficiency,and the effectiveness of the improved algorithm is verified.(3)According to the friction model of servo system,the friction moment estimation at constant speed is obtained by using PD control law.The dynamic step size CS algorithm with high optimization accuracy is used to identify friction parameters.Compared with other literature identification results,it shows that the fitness value of the identification error based on this algorithm is more ideal,and the superiority of this method is verified.Simulink simulation experiment of friction compensation eliminates the phenomenon of "flat top" near the peak value of position tracking due to friction effect,improves the performance of servo system,and verifies the correctness of the optimization results.