| 二自由度随动系统的自适应摩擦补偿 |
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| 引用本文： | 王红茹,王建中.二自由度随动系统的自适应摩擦补偿[J].科技导报(北京),2011,29(20):53-56. |
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| 作者姓名： | 王红茹 王建中 |
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| 作者单位： | 1. 江苏科技大学机械工程学院,江苏镇江 212003;2. 北京理工大学机电学院,北京 100081 |
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| 基金项目： | 江苏科技大学博士启动基金项目(35020902) |
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| 摘 要： | 为提高二自由度随动系统的跟踪精度,针对系统中存在的摩擦扰动问题,提出了一种基于LuGre模型的自适应摩擦补偿方法.该方法采用离线估计法对LuGre模型中未知参数进行估计,采用非线性观测器和自适应律估计LuGre摩擦模型中的不可测状态变量和易变未知参数.最后利用Lyapunov方法证明了整个闭环系统的渐进稳定性.仿真实验表明,该方法能有效补偿摩擦对二自由度随动系统低速性能的影响,从而提高跟踪精度.
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| 关 键 词： | 目标跟踪 摩擦补偿 双观测器结构 自适应律 二自由度随动系统 |
Adaptive Friction Compensation for 2-DOF Tracking System |
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| WANG Hongru,WANG Jianzhong .School of Mechanical Engineering,Jiangsu University of Science , Technology,Zhenjiang ,Jiangsu Province,China .School of Mechatronics,Beijing Institute of Technology,Beijing ,China.Adaptive Friction Compensation for 2-DOF Tracking System[J].Science & Technology Review,2011,29(20):53-56. |
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| Authors: | WANG Hongru WANG Jianzhong School of Mechanical Engineering Jiangsu University of Science Technology Zhenjiang Jiangsu Province China School of Mechatronics Beijing Institute of Technology Beijing China |
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| Institution: | 1. School of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang 212003, Jiangsu Province, China;2. School of Mechatronics, Beijing Institute of Technology, Beijing 100081, China |
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| Abstract: | In order to eliminate nonlinear effects of friction on 2-DOF tracking system and to improve its position-tracking accuracy,a novel adaptive friction compensation algorithm is proposed.Based on nonlinear characteristics of friction,a LuGre dynamic friction model is adopted to characterize friction in the 2-DOF tracking system.In this method,unknown parameters for the LuGre model are estimated in the manner of off-line;friction state and the inconstant parameters are estimated by using nonlinear observers and... |
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| Keywords: | target tracking friction compensation dual-observer structure self-adaptive law 2-DOF tracking system |
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