【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.更多还原

【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.更多还原