基于速度观测器的模型参考自适应摩擦补偿  

Model-Reference Adaptive Friction Compensation Based on the Velocity Observer

作　　者：董锡君[1] 姚郁[1] 洪兴昌[2] 

机构地区：[1]哈尔滨工业大学航天学院,哈尔滨150001 [2]上海航天局第八设计部,上海200233

出　　处：《航天控制》2001年第2期56-60,共5页Aerospace Control

摘　　要：具有相对运动的机械伺服系统中都存在着摩擦干扰力矩。针对机械伺服系统不能提供速度信号时的摩擦补偿问题 ,本文提出了一种基于速度观测器的模型参考自适应摩擦补偿方法 ,该方法利用一降维观测器在线估计速度信号 ,并根据该估计信号构成模型参考自适应摩擦补偿器。根据摩擦补偿器构成的两种情况 ,对系统误差的收敛性进行了分析 ,并进行了仿真验证 。There always exists friction in the servomechanism which includes the relative movements. With respect to the friction compensation problem in which no velocity signal is offered, this paper presents a kind of model?reference adaptive friction compensating method based on the velocity observer. This method estimates the velocity on line using a reduced?order observer, and then constructs the model?reference adaptive friction compensator by the estimated velocity signal. According to the two cases that the compesnator is constructed, the local convergence of the system's error signals is analyzed. The simulations illustrate the feasibility and effectiveness of this method.

关 键 词：摩擦补偿 降维观测器 模型参考 自适应 仿真结果 速度 伺服系统 信号 仿真验证 干扰力矩 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计] TP13[自动化与计算机技术—控制理论与控制工程]