基于自调整模糊控制方法的摩擦补偿研究

Friction Compensation Approach Based on a Self-adjusting Fuzzy Control Method

针对使用表征摩擦的复杂的表达式使系统分析和基于模型的系统补偿难以实施,本文提出了一种基于参数和规则自调整的自适应模糊控制器的摩擦补偿方法,该方法能够有效地补偿摩擦给伺服定位系统所造成的不利影响。这种模糊控制器可根据系统参数的变化在线进行自动调整,从而增强了摩擦补偿的效果。所进行的数值仿真验证了本文得到的主要结论的可行性和有效性。

Aiming at the fact that the expression of friction model makes System analysis andsystem compensation based on model are difficult to realize, a friction Compensation approach is proposed by using an adaptive fuzzy controller, The parameter and rule of the controller can be adjusted online. The new developed method can reduce the adverse effects on servo system. This kind of fuzzy controller can adjust automatically according to the system＇s parameters, which render the compensation effect better. Finally, the numerical simulations are done to verify the ：feasibility and effectiveness of the main results obtained.