基于非线性摩擦模型参数观测器的自适应摩擦补偿方法的研究  

Research on Adaptive Friction Compensation Based on the Observer of Nonlinear Friction Model Coefficient

作　　者：曾鸣[1] 王忠山[1] 王学智 

机构地区：[1]哈尔滨工业大学空间控制与惯性技术研究中心,哈尔滨150001

出　　处：《航空精密制造技术》2005年第3期17-22,共6页Aviation Precision Manufacturing Technology

摘　　要：通过摩擦补偿的分析提出了一种基于非线性摩擦模型参数观测器的自适应摩擦补偿方法,从工程实用角度出发采用的是库仑加粘滞的摩擦模型,设计了两个观测器实现对库仑摩擦系数和粘滞摩擦系数的估计,并用MATLAB软件对转台工作状态进行了仿真,结果表明此观测器有良好的自适应补偿性能。The method of adaptive friction compensation based on the observer of nonlinear friction model coefficient was presented. The friction model of Cou lomb friction coefficient was used. Two observers were designed to realize the e valuation of Coulomb friction coefficient and viscidity friction coefficient. Th e working states of table were simulated by software MATLAB. The computer simula tion result showed that the good adaptive friction compensation was obtained by the observers.

关 键 词：非线性摩擦模型参数观测器 库仑摩擦 粘滞摩擦 位置信号 

分 类 号：TH117.1[机械工程—机械设计及理论]