摘要
针对无刷直流电动机系统的非线性数学模型特点 ,提出了一种简单的摩擦补偿方法 .该方法首先利用输入输出线性化方法将原系统模型转化为一种简单的线性模型 ,然后给出一种非线性摩擦估计器实时估计系统中的库仑摩擦值 ,最后利用摩擦前馈补偿方法对其进行补偿 .仿真结果表明该方法可以有效地抑制无刷直流电动机系统中的摩擦影响 .
A simple method of compensating friction is presented against the character of the nonlinear model of a brushless DC motor system. By transferring the original system model to a simple linear model, as the method of input-output linearization is used, the coulomb friction in the system is estimated on real-time by using a nonlinear friction estimator. Then the friction in the system is compensated using a friction feedforward. Simulation results show that this method can effectively eliminate the influence of friction in brushless DC motor systems.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2001年第1期55-59,共5页
Journal of Harbin Institute of Technology
