According to the interference of the servo system, a method is proposed that identify the parameters of LuGre friction model and compensate the friction torque base on genetic algorithms. First, establish the LuGre friction model, on the basis of the model, identify the static parameters and the dynamic parameters in turn. Second, introduce the friction compensation to the feedback control of the servo system so that to eliminate the interference and improve the system tracking accuracy and robustness.
Aiming at the soft contact problem of space docking, a bionic docking mechanism for space target acquisition is proposed to realize the buffering and unloading of six–dimensional spatial collision through flexible rotating and linear components. Using the Kane method, an integrated dynamic equation of the bionic docking mechanism in space docking is established, and the stiffness optimization strategy is carried out based on angular momentum conservation. Based on the particle swarm optimization (PSO), a stiffness optimization scheme was realized. Through the numerical simulation of the bionic docking mechanism in space docking, the stiffness optimization was achieved and the soft contact machine process is verified. Finally, through the docking collision experiments in Adams, the results indicate that the proposed bionic docking mechanism can not only prolong the collision time to win time for space acquisition, but also buffer and unload the six–dimensional spatial collision caused by space target docking.
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