基于LuGre模型的摩擦力补偿的研究

针对直流伺服系统中非线性摩擦的影响，提出了一种基于LuGre模型的摩擦补偿。采用观测器对LuGre模型中不可测状态z进行估计，提出的自适应律能够很好的补偿摩擦对伺服系统低速性能的影响，并用Lyapunov方法验证了该自适应律能够保证系统的稳定性和对期望信号的渐进跟踪，最后用matlab对系统进行了仿真，证明了该方法的有效性。

Study of Friction Compensation Based on LuGre Model

Because nonlinear friction affect greatly servo System, friction compensation based on LuGre model is bring forward. State z is adopted observer to estimate which is not measured. Self-adaptive law brought forward can compensate greatly low speed affect that friction act in servo system, and method of Lyapunov is proved that the self-adaptive control law can make system stability and expectant signal can be gradually traced. Finally matlab is used to simulate system, and this mothed is proved to be valid.