| 一种精密转台系统自适应摩擦补偿方法 |
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| 引用本文： | 王忠山,王毅,苏宝库.一种精密转台系统自适应摩擦补偿方法[J].华南理工大学学报(自然科学版),2007,35(9):55-59. |
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| 作者姓名： | 王忠山 王毅 苏宝库 |
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| 作者单位： | 哈尔滨工业大学,空间控制与惯性技术研究中心,黑龙江,哈尔滨,150001 |
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| 摘 要： | 为克服精密转台系统中存在的非线性动态摩擦力,提高转台摇摆工作状态下的位置跟踪精度,提出了一种新的基于Lugre动态摩擦模型的自适应摩擦补偿方法.该方法利用非线性观测器/滤波器结构来补偿转台系统中摩擦参数的不确定性,通过引入双非线性滤波器并调节滤波器增益,能够提高系统的位置跟踪性能.文中采用基于Lyapunov的方法证明了整个闭环系统的渐近稳定性,并通过仿真证明了所提出方法的有效性.
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| 关 键 词： | 自适应摩擦补偿 观测器/滤波器结构 非线性动态摩擦 精密转台系统 |
| 文章编号： | 1000-565X（2007）09-0055-05 |
| 修稿时间： | 2006-10-16 |
An Adaptive Friction Compensation Method for High-Precision Turntable System |
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| Wang Zhong-shan,Wang Yi,Su Bao-ku.An Adaptive Friction Compensation Method for High-Precision Turntable System[J].Journal of South China University of Technology(Natural Science Edition),2007,35(9):55-59. |
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| Authors: | Wang Zhong-shan Wang Yi Su Bao-ku |
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| Institution: | Space Control and Inertial Technology Research Center,Harbin Institute of Tech.,Harbin 150001,Heilongjiang,China |
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| Abstract: | In order to eliminate the nonlinear dynamic friction force in a high-precision turntable system and to improve the position-tracking accuracy of the turntable in swing motion,a novel adaptive friction compensation method is developed,in which Lugre's dynamic friction model is adopted to characterize the friction torque.In this proposed method,the nonlinear observer/filter structure is used to compensate the uncertainty of friction parameters,and dual nonlinear filters are introduced to improve the position-tracking performance of the turntable system by adjusting the gains of the filters.The asymptotic stability of the closed-loop system is then proved by a Lyapunov-like argument,and the effectiveness of the proposed approach is finally verified by simulation. |
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| Keywords: | adaptive friction compensation observer/filter structure nonlinear dynamic friction precision turn-table system |
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