交流位置伺服系统非线性摩擦补偿控制研究  

Research on Nonlinear Friction Compensation Control for AC Servo System

作　　者：白传栋[1] 王德义[2] 

机构地区：[1]北方工业大学机械与材料工程学院,北京100041 [2]北京航空航天大学机械工程及自动化学院,北京100191

出　　处：《太原理工大学学报》2015年第4期430-434,439,共6页Journal of Taiyuan University of Technology

摘　　要：针对交流位置伺服系统中具有摩擦非线性、参数不确定性以及外界扰动等问题,建立了基于LuGre理论的非线性摩擦模型伺服系统模型,并考虑了包括永磁同步电机、传动丝杠在内的非线性摩擦,提出了一个基于模型的摩擦补偿算法。仿真和试验结果表明,摩擦模型能有效描述交流位置伺服系统的非线性摩擦,摩擦补偿控制算法可以有效提高位置跟踪和速度跟踪的精确度。In the position servo system of wide speed regulation, large output of multi start and stop, the traditional closed loop control is difficult to meet the requirement of high perform- ance system. According to the AC position servo system with friction nonlinearity, parameter un- certainties and external disturbances and other issues, the nonlinear friction model of servo sys- tem model based on LuGre theory was established. Then nonlinear friction model takes into ac- couny the nonlinear friction of drive screw and permanent magnet synchronous motor. A friction compensation algorithm based on the model was proposed, The simulation and experiment results show that the nonlinear friction model can effectively describe the AC position servo system and the, friction compensation control algorithm can effectively improve the tracking speed and track- ing precision.

关 键 词：伺服系统 永磁同步电机 LUGRE模型 非线性建模 补偿控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]