基于改进Stribeck模型的伺服系统摩擦补偿研究  

Research on Friction Compensation of Servo System Based on Modified Stribeck Model

作　　者：齐智斌 郭联龙 兰帅航 桑勇[1] QI Zhibin;GUO Lianlong;LAN Shuaihang;SANG Yong(School of Mechanical Engineering,Dalian University of Technology,Dalian Liaoning 116024,China)

机构地区：[1]大连理工大学机械工程学院,辽宁大连116024

出　　处：《微电机》2024年第8期20-25,42,共7页Micromotors

摘　　要：电动伺服加载系统中非线性摩擦的存在是不可避免的,具有较强非线性的摩擦干扰严重影响系统的加载精度。针对电动伺服加载系统中摩擦扰动问题,首先提出一种改进Stribeck摩擦模型对加载系统摩擦特性进行描述;其次基于反步控制理论设计控制器抑制非线性摩擦扰动;最后针对摩擦模型参数易受系统内外部环境变化影响的问题,结合自适应控制对参数变化的摩擦干扰进一步抑制。根据仿真结果表明:相比于传统PID控制,采用自适应反步控制器的系统扭矩误差降低了80.2%,有效抑制了系统中的非线性摩擦扰动,提升了加载系统控制精度。The existence of nonlinear friction in electric servo loading system is inevitable,the friction disturbance with strong nonlinearity seriously affects the loading accuracy of the system.Firstly,aiming at the problem of friction disturbance in electric servo loading system,a modified Stribeck friction model was proposed to describe the friction characteristics of the loading system;Secondly,the controller was designed to suppress the nonlinear friction disturbance based on the backstepping control theory.Finally,aiming at the problem that the parameters of the friction model were easily affected by the changes of the internal and external environment of the system,the adaptive control was used to further suppress the friction interference of the parameter changes.According to the simulation results:compared to the traditional PID control,the torque error of the system using the adaptive backstepping controller was reduced by 80.2%,which effectively suppresses the nonlinear friction disturbance in the system and improves the control accuracy of the loading system.

关 键 词：伺服加载系统 非线性摩擦 改进Stribeck摩擦模型 自适应反步控制 

分 类 号：TP272[自动化与计算机技术—检测技术与自动化装置]