| 摩擦非线性环节的特性、建模与控制补偿综述 |
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| 引用本文： | 刘强,尔联洁,刘金琨.摩擦非线性环节的特性、建模与控制补偿综述[J].系统工程与电子技术,2002,24(11):45-52. |
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| 作者姓名： | 刘强 尔联洁 刘金琨 |
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| 作者单位： | 北京航空航天大学自动控制系,北京,100083 |
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| 基金项目： | 航空基础科学基金资助课题 (0 0E5 10 2 2 ) |
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| 摘 要： | 首先介绍了机械伺服系统中摩擦非线性环节的动态、静态特性的研究成果和目前常用的几种摩擦模型 ,讨论了摩擦非线性环节对伺服系统的动态性能和静态性能的影响 ,以及摩擦非线性环节导致的极限环振荡、低速爬行等现象。然后对有关摩擦补偿方法方面的研究成果进行了总结 ,介绍了传统的摩擦补偿方法和基于智能控制理论的摩擦补偿方法方面的研究成果。最后 ,展望了该领域今后的发展方向。
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| 关 键 词： | 摩擦 摩擦建模 摩擦补偿 辨识 控制 |
| 文章编号： | 1001-506X(2002)11-0045-08 |
| 修稿时间： | 2001年10月12 |
Overview of Characteristics, Modeling and Compensation of Nonlinear Friction in Servo Systems |
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| LIU Qiang,ER Lian jie,LIU Jin kun.Overview of Characteristics, Modeling and Compensation of Nonlinear Friction in Servo Systems[J].System Engineering and Electronics,2002,24(11):45-52. |
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| Authors: | LIU Qiang ER Lian jie LIU Jin kun |
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| Abstract: | In this paper the dynamic and static characteristics of the nonlinear friction usually encountered in mechanical servo systems are first described, and some friction models commonly used at present are introduced. The dynamic and static performances of the servo systems in the presence of nonlinear friction are discussed and the limit cycle response and static slip phenomena induced by nonlinear friction are studied. Then contributions from friction compensation method are surveyed, and the research results on traditional friction compensation method and friction compensation method based on intelligent control theory are introduced. Finally an outlook of the future research is presented. |
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| Keywords: | Friction Friction modeling Friction compensation Identification Control |
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