| 引用本文: | 周金柱,段宝岩,黄 进.LuGre摩擦模型对伺服系统的影响与补偿[J].控制理论与应用,2008,25(6):990~994.[点击复制] |
| ZHOU Jin-zhu,DUAN Bao-yan,HUANG Jin.Effect and compensation for servo systems using LuGre friction model[J].Control Theory and Technology,2008,25(6):990~994.[点击复制] |
|
| LuGre摩擦模型对伺服系统的影响与补偿 |
| Effect and compensation for servo systems using LuGre friction model |
| 摘要点击 1572 全文点击 3272 投稿时间：2007-04-29 修订日期：2008-03-27 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 |
| 2008,25(6):990-994 |
| 中文关键词 LuGre摩擦模型 摩擦补偿 积分反步自适应控制 伺服系统 |
| 英文关键词 LuGre friction model friction compensation integral backstepping adaptive control servo system |
| 基金项目 国家973重大基础研究资助项目(613580205); 国家自然科学基金资助项目(50775170). |
|
| 中文摘要 |
| 摩擦是影响伺服系统性能的一个主要因素. 为了研究摩擦的影响与补偿, 本文首先建立了基于动态LuGre摩擦的机电伺服系统模型. 根据LuGre模型, 构造了一个非线性观测器来估计摩擦力矩. 然后, 积分反步自适应控制算法被设计从而实现了摩擦补偿和负载扰动估计, 并使用Lyapunov函数证明了闭环系统的稳定性. 仿真结果表明:LuGre摩擦会对伺服系统产生极限环振荡以及低速爬行的影响, 并且提出的补偿方法能够降低摩擦对伺服系统性能的影响以及提高了系统的跟踪精度和鲁棒性. |
| 英文摘要 |
| Friction is one of the main factors influencing the performance of servo systems. In order to study the effect and compensation of friction, a servomechanisms model using a dynamic LuGre friction is established. According to the LuGre model, a nonlinear observer is constructed to estimate the friction torque. Then, an integral backstepping adaptive control law is designed to realize the friction compensation and load disturbance estimation. From the Lyapunov theory, the stability of the closed-loop system is proved. Simulation results show that LuGre friction in servo systems will lead to the effect of limit cycles and stick-slip. Moreover, the proposed compensation method can greatly reduce the effect and improve the system tacking accuracy and robustness. |
|
|
|
|
|