OBSERVER/FILTER STRUCTURE BASED ADAPTIVE FRICTION COMPENSATION FOR HIGH PRECISION TURNTABLE  

基于观测器/滤波器结构的高精度转台自适应摩擦补偿(英文)

作　　者：王忠山[1] 苏宝库[1] 王毅[1] 

机构地区：[1]哈尔滨工业大学航天学院

出　　处：《Transactions of Nanjing University of Aeronautics and Astronautics》2008年第2期113-120,共8页南京航空航天大学学报（英文版）

摘　　要：Two adaptive friction compensation schemes are developed for a high precision turntable system with nonlinear dynamic friction to handle two types of parametric uncertainties in the friction. Both schemes utilize a nonlinear observer/filter structure to compensate for uncertainties in corresponding friction parameters associated with the turntable system. Moreover, in the second scheme, adjustable gains are introduced into the dual nonlin- ear filters and they can be tuned to improve the position tracking performance. In both cases, a Lyapunov-like argument is provided for the global asymptotic stability of the closed-loop system. Simulation results demonstrate the effectiveness of the proposed schemes.针对具有非线性动态摩擦的高精度转台系统,为了处理两种不同类型的摩擦参数不确定性,提出了两种自适应摩擦补偿方案。所提的两种方案均利用一种非线性观测器/滤波器结构来补偿转台系统中相应摩擦参数的不确定性。此外,第二种方案在双非线性滤波器中引入了可调增益,并通过调节滤波器增益来提高系统的位置跟踪性能。两种情况下,均采用基于Lyapunov的方法证明了整个闭环系统的全局渐近稳定性。仿真结果表明了所提方案的有效性。

关 键 词：FRICTION wave filters adaptive friction compensation high precision turntable observer/filter structure 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]