关键词: 摩擦模型, 参数辨识, 边界误差估计, 区间分析

Abstract:

An approach, based on bounded-error estimation via interval analysis, was presented to identify dynamic parameters of LuGre friction model herein. The approach assumed the error of measurement output data of dynamic system with LuGre friction force was bounded. Hence, the problem of parameter idelification can be transformed into that of set inversion, which will be effectively solved via interval analysis. The four static parameters of LuGre friction model were estimated using least-square method in sliding regime, which deceased sharply the amounts of parameters identified using interval analysis. In comparison with the traditional estimation methods the main advantages of the proposed method  are that, as it is global, it bypasses the problem of initialization. Moreover, the method avoids amount error due to transformation of measurement output data. An identification example was given to show the correctness and efficiency of the proposed method.

Key words: friction model, parameter identification, bounded-error estimation, interval analysis