基于模型参考模糊自适应的转台摩擦力矩补偿研究  

Research of Friction Torque Compensation of Turntable Based on Model Reference Fuzzy Adaptive Method

作　　者：姜云翔 王春喜[1] 马玲[2] 曹雪立[3] 王茂[2] 赵健[1] JIANG Yun-xiang;WANG Chun-xi;MA Ling;CAO Xue-li;WANG Mao;ZHAO Jian(Beijing Aerospace Institute tor Metrology and Measurement,Beijing 100076,China;Harbin Institute of Technology,Harbin 150001,China;Beijing Institute of Aerospace Control Devices,Beijing 100039,China)

机构地区：[1]北京航天计量测试技术研究所,北京100076 [2]哈尔滨工业大学,哈尔滨150001 [3]北京航天控制仪器研究所,北京100039

出　　处：《宇航计测技术》2018年第4期43-48,共6页Journal of Astronautic Metrology and Measurement

摘　　要：为克服某型伺服转台在摩擦力矩干扰下引起的低速"爬行"问题,设计了基于模型参考模糊自适应的摩擦补偿控制方法;并基于所建立的数学模型对该摩擦补偿方法进行了lyapunov稳定性证明,采用Matlab进行了仿真试验分析。仿真结果表明,该摩擦补偿方法能够有效抑制摩擦干扰的不利影响,提升了转台低速跟踪的平稳性,从而显著提高了转台的低速伺服精度。In order to restrain the significant low-speed ＂ crawling＂ phenomenon caused by friction torque disturbance of servo turntable,a method of friction compensation based on model reference fuzzy adaptiveness was proposed. Based on the mathematic model,the friction compensation method is proved by the Lyapunov stabilization control theory and the simulation test is carried out by MATLAB. The simulation results show that the friction compensation method can effectively restrain the adverse effect of friction interference and improve the smoothness of low speed tracking of turntable,thus greatly improving the low-speed servo accuracy of the turntable.

关 键 词：伺服转台 模型参考 模糊自适应 摩擦补偿 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]