摘要
针对高精度转台在低速运行时,由于摩擦力矩的作用,跟踪精度会受到很大的影响的实际情况,本文提出将Stribeck摩擦力矩模型应用于高精度转台系统,并设计控制器,可以在线的对摩擦力矩进行辨识和补偿。该方法根据摩擦力矩模型的特点,采用前馈+积分反馈设计控制器。并采用Lyapunov函数和拉萨尔一般不变性原理分析了系统的稳定性,证明在一定的条件下,可以实现渐进稳定跟踪。实验结果表明,控制器对非线性摩擦力矩具有补偿作用。
Friction moment effect is one of main factors which affect the tracking accuracy of high-precision turntable system when the system works at a low velocity. The Stribeck friction model was put on the high-precision turntable system, and then a controller was designed, which could identify and compensate the friction moment online. According to the characters of the fi＇iction moment model, the controller was designed by feedforward＋integral feedback strategy. And we analyzed the stability by using Lyapunov function and Lasalle common invariance principle, and the result we obtained indicated that the tracking system could achieve semi-global asymptotic tracking. Finally, simulation results prove that the controller can compensate the nonlinear friction moment online.
出处
《光电工程》
EI
CAS
CSCD
北大核心
2008年第12期126-130,共5页
Opto-Electronic Engineering
