基于修正LuGre模型的反步自适应摩擦补偿控制  

Adaptive Backstepping Friction Compensation Control Based on Modified LuGre Model

作　　者：梁青[1] 张剑[1] 王永[1] 

机构地区：[1]中国科学技术大学,安徽合肥230027

出　　处：《微特电机》2011年第11期67-69,共3页Small & Special Electrical Machines

摘　　要：LuGre模型是一种常用的对伺服系统进行动态摩擦建模和补偿的模型。基于一种改进的LuGre模型,建立了伺服系统模型;利用反步自适应控制算法得到系统控制律,并构造Lyapunov函数证明了系统的稳定性;将控制结果方面与传统的前馈PID固定摩擦补偿算法进行比较。仿真结果表明该方法能有效降低摩擦因素的不利影响,且比传统的控制算法具有更高的跟踪精度。LuGre model has been widely used in servo system for dynamic friction modeling and compensation. Model of servo system was built base on a modified LuGre model. Adaptive backstepping algorithm was used to get the control law, The closed-up system stability was proved according to Lyapunov theory. Compared with tradition feed-forward PID algorithm, the simulation results show that the proposed method can effectively reduce the adverse effect of the friction and improve the system tracking accuracy.

关 键 词：修正的LuGre模型 反步自适应控制 摩擦补偿 

分 类 号：TM383.4[电气工程—电机]