摘要
将摩擦力的Stribeck曲线作为伺服系统的摩擦模型,提出用干扰观测器来补偿摩擦力对伺服系统低速运行的影响。在对象的名义模型正确条件下,干扰观测器和反馈控制器的设计可以分开独立进行。低频时,产生的系统特性类似名义模型的特性,并从理论上保证了被控对象参数不确定时的鲁棒性,同时摩擦对伺服系统输出的影响等于零。仿真实验表明了该控制策略的有效性。
The stribeck curve of friction is used for the friction model of the servo-system in this paper. The design method by using disturbance observer to compensate for influence of friction, which taken place when servo-system is run as low speed, is presented.The disturbance observer and the feedback controller can be designed independently as long as the nominal model is correct. For low frequencies the resulting system behaves like the nominal plant, robustness for paramenter uncertainty is therefore guaranteed in theory. As the same time, the influence of friction to servo-system output is equal to zero.The simulation results show the effectiveness of the proposed scheme.
出处
《电子科技大学学报》
EI
CAS
CSCD
北大核心
2005年第1期85-88,共4页
Journal of University of Electronic Science and Technology of China
基金
安徽省高等学校科研计划资助项目(2001KJ030)
