机电伺服系统非线性摩擦自适应补偿的研究  

Research on Adaptive Nonlinear Friction Compensation of Mechatronic Servo Systems

作　　者：王瑞娟[1] 梅志千[1] 李向国[1] 王金秀[1] 

机构地区：[1]河海大学机电工程学院,江苏省常州市213022

出　　处：《中国电机工程学报》2012年第36期123-129,4,共7页Proceedings of the CSEE

基　　金：国家科技重大专项(2010ZX04004-116);中央高校基本科研业务费专项资金(2009B31014)~~

摘　　要：非线性摩擦是影响机电伺服系统控制性能的主要因素,尤其是在低速、速度换向等情况下,它往往会造成系统的跟踪误差、极限环等不良反应。在分析摩擦形成机理与特性的基础上,介绍了LuGre摩擦模型,通过李雅普诺夫稳定性分析方法,设计了基于LuGre模型的非线性摩擦自适应补偿算法,在线辨识出摩擦模型参数,构造一个双闭环状态观测器来估计摩擦状态变量,降低了由于非线性摩擦给机电伺服系统带来的不良影响。仿真和实验结果证明了所提方法的有效性。The presence of nonlinear, dynamic friction in high precision servo systems can lead to tracking error, limit-cycle, etc. in the condition of low speed and velocity reverse. Based on analyzed the forming principle and characteristics of friction, the LuGre dynamic friction model is introduced in this paper, and then a LuGre model-based adaptive nonlinear friction compensation method is developed through the Lyapunov stability analysis, the friction model parameters are identified online, and a dual-closed loop observer is constructed to estimate the friction state variables which can＇t be measured, which greatly reduces the effect caused by nonlinear friction. The validity and effectiveness of the proposed compensation method is verified by simulation and experiment for the positional control.

关 键 词：非线性摩擦 LuGre摩擦模型 李雅普诺夫 自适应摩擦补偿 参数辨识 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]