大摩擦力矩下电液伺服系统高精度控制与实验分析

为了实现大摩擦力矩中空液压马达系统高精度跟踪控制，提出了一种基于滑模状态观测器的变结构控制策略,分析了滑模变结构控制规律和滑模状态观测器的理论与实现方法，采用LuGre动态摩擦模型和滑模观测器实现了非线性摩擦力矩的动态补偿.实验结果表明：在超低速、大摩擦力矩存在的情况下，所提出的控制策略实现了非线性电液伺服系统的高精度轨迹跟踪控制.

Precision Control Scheme and Experimental Analysis of Hydraulic Servo System with Large Friction Torque

In order to obtain a high precision control performance for nonlinear hydraulic servo system in the presence of large frictional torque, a novel control scheme based on the sliding mode variable structure controller combined with friction state observer was presented. The sliding model variable structure control law and the sliding model friction state observer were detailed. The LuGre dynamic friction model and the sliding mode friction observer were adopted for friction compensation. The experimental results show that high precision control can be accomplished in the presence of large friction torque and very low velocities.