The Friction Model Parameters Identification of Servo System Based on Genetic Algorithm

In this paper,the friction model parameter identification problem of DC servo system affected by friction is studied.The identification of friction model parameters has great difficulties due to the existence of unknown load characteristics and nonlinear friction.The input torque is divided into linear torque and nonlinear friction torque firstly.The linear torque is used to drive the load rotation and the nonlinear friction torque is used to overcome friction.Then,the genetic algorithm is used for parameter optimization based on Stribeck friction model.Simulation results from DC servo system show the effectiveness of the proposed method.The identification method presents strong practical value because of fewer requirements for known information and easy implementation.