【摘要】 超低速、高精度、高频响的液压转台性能提高受到动态非线性摩擦的影响。为提高液压转台的低速性能,通过分析液压转台单框动态摩擦特性,在建立转台摩擦的LuGre模型基础上,提出用一种基于LuGre模型的非线性自适应控制补偿液压转台动态摩擦。构造两个非线性观测器对液压转台LuGre摩擦状态进行精确估计,通过构造摩擦模型参数自适应率对摩擦力矩进行动态补偿,并利用Lyapunov方法证明了控制系统的全局渐近稳定性。对液压转台中框的仿真实验证明了该方法的正确性和优越性。更多还原

【Abstract】 The performance improvement of hydraulic simulator is effected by dynamic nonlinear friction.A nonlinear adaptive friction compensation method based on LuGre friction model was proposed to acquire good low-speed performance of hydraulic simulator after analyzing the dynamic friction and building the LuGre friction model of hydraulic simulator.Dual nonlinear observers were constructed to estimate the unmeasurable friction state and adaptive laws of friction parameters were built to compensate dynamic friction.The system stability and asymptotic position tracking performance were guaranteed by Lyapunov function.Simulation results verify the effectiveness and superiority of the dynamic friction compensation method.更多还原