摘要
针对陀螺漂移测试转台直流力矩电机系统中存在的非线性动态摩擦和负载扰动 ,为提高转台位置跟踪精度 ,提出了一种新的自适应补偿方法 .电机中摩擦模型采用摩擦参数为非一致性变化的LuGre动态模型 .该方法控制器包含一个参数自适应律和等效PD控制律来估计未知LuGre模型参数和负载力矩参数并给与补偿 .最后Lyapunov方法和仿真结果证明该自适应补偿方法保证了闭环系统全局稳定性和对期望位置信号的渐进跟踪 。
An adaptive compensation scheme is proposed to compensate the dynamic friction and load disturbance in a DC motor system. A simplified second-order linear model is used for the DC motor system while a LuGre dynamic friction model with non-uniform friction force variations characterizes the friction force in the motor system. The compensation scheme consists of a PD component and an adaptive component for estimating the unknown system parameters. The system stability and asymptotic position tracking performance are guaranteed by Lyapunov function, and computer simulations verify the effectiveness of the proposed scheme for high-precision motion trajectory tracking.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2003年第5期536-540,共5页
Journal of Harbin Institute of Technology
基金
武器装备预研基金资助项目 (5 14 0 90 5 0 10 1HT0 12 1)
