一种直流力矩电机系统的滞滑摩擦补偿方法  

Nonlinear stick-slip friction compensation for DC motors

作　　者：克晶[1] 苏宝库[1] 曾鸣[1] 

机构地区：[1]哈尔滨工业大学 控制科学与工程系,黑龙江哈尔滨150001

出　　处：《哈尔滨工业大学学报》2005年第6期736-739,747,共5页Journal of Harbin Institute of Technology

基　　金：武器装备预研基金资助项目(51409050101HT0121).

摘　　要：针对陀螺漂移测试转台直流力矩电机系统中存在的非线性滞滑摩擦,使转台在PD控制下存在稳态误差的问题,应用具stick-slip摩擦的直流力矩电机系统模型,推导了一种非线性补偿方法.该方法设计了一种非连续非线性的比例反馈力矩,使在PD控制下的转台电机系统具有惟一的平衡点,从而消除了滞滑摩擦引起的稳态误差.仿真结果证明了该非线性补偿方法的有效性.For the existence of the nonlinear stick-slip friction in the DC motor system of turntable, a steady state error is caused when a proportional derivative (PD) control law is applied to the turntable. In order to eliminate the steady state error, a nonlinear compensation force for stick-slip friction is developed to supplement a PD control law to the turntable. The nonlinear compensation force is robust with respect to the character of the slipping force which is assumed to lie within a piecewise linear band. Finally simulation results verify the effectiveness of the proposed stick-slip friction compensation scheme.

关 键 词：直流力矩电机 摩擦补偿 测试转台 

分 类 号：TP307[自动化与计算机技术—计算机系统结构]