基于GMS摩擦力补偿和干扰观测器的高精度速度控制  

High precision speed control based on GMS friction compensation and disturbance observer

作　　者：刘玉章[1] 赵志刚 刘虎 毛大鹏[1] Liu Yuzhang;Zhao Zhigang;Liu Hu;Mao Dapeng(Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China;Unit 63895 of PLA,Mengzhou 454750,China)

机构地区：[1]中国科学院长春光学精密机械与物理研究所,长春130033 [2]中国人民解放军63895部队,孟州454750

出　　处：《国外电子测量技术》2024年第5期171-178,共8页Foreign Electronic Measurement Technology

摘　　要：为了降低机械轴系摩擦力扰动对于伺服控制器在低速运动控制精度的影响,进一步提高传统伺服控制器对于稳定平台的控制能力,提出了一种基于广义Maxwell滑动(generalized Maxwell-slip,GMS)摩擦力模型前馈和干扰观测器的高精度摩擦力补偿方案。首先在传统控制基础上引入GMS摩擦模型前馈补偿对摩擦扰动进行初步的补偿;然后,通过加入干扰观测器,对残余扰动及其他扰动进行第2次的抑制。利用实物平台对控制方法的低速运动性能进行了测试,对比设计的控制算法和传统PI控制器的控制结果,验证提出的控制策略抑制摩擦扰动的效果。结果表明,基于GMS摩擦力前馈和干扰观测器的控制方案有效的补偿了摩擦非线性、模型不确定性等因素对于控制系统的影响。新方法可将稳定平台低速运动时的控制误差降低到0.015°/s,在实际工程中具有较高的应用价值。In order to reduce the impact of mechanical shaft friction disturbance on the control accuracy of servo controllers in low-speed motion,a high-precision friction compensation scheme based on the generalized Maxwell-slip(GMS)friction model feedforward and disturbance observer is proposed.Firstly,based on traditional control,the GMS friction model feedforward compensation is introduced to preliminarily compensate for the impact of friction disturbance;Then,the residual disturbances that still exist after friction compensation are further suppressed through the design of interference observers.In order to verify the effectiveness of the proposed control strategy in suppressing friction disturbances in mechanical shaft systems,the low-speed motion dynamic performance of the control method was tested using a physical platform,and the control error was compared between the traditional PI controller and the friction compensation scheme based on disturbance observer before and after.The comparison results show that the control scheme based on GMS friction feedforward and disturbance observer effectively compensates for the influence of privacy such as mechanical friction nonlinearity and model uncertainty on the control system.The new method can reduce the control error of the stable platform during low-speed motion to 0.015°/s,and has high application value in practical engineering.

关 键 词：伺服控制 摩擦力辨识 摩擦力补偿 干扰观测器 运动控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]