直线电机摩擦力的动态补偿研究

Research on Dynamic Compensation of Friction in Linear Motor

由于非线性摩擦力的影响,高精度的直线电机滑台在低速运动时跟踪精度会受到较大的影响。从实际运用的角度出发,在传统的Stribeck摩擦数学模型的基础上引入位置参数建立新的模型,对非线性摩擦力进行补偿,并根据模型的特点设计前馈积分控制器进行系统辨识和补偿。采用Lyapunov函数和LaSalle不变性原理分析系统的稳定性。仿真结果表明:采用该模型提高了滑台的跟踪性能。

The tracing precision of high-precise linear motor is greatly influenced when it moved at a low speed because of the friction. From the point of ~practice, on the basis of traditional Stribeck friction model, position parameter was added to set up a new model. According to the new model, a feedforward controller was designed to identify and compensate the system. The stability of the systems was analyzed by using Lyapunov functions and LaSalle invariance principle. The simulation results show using the model, the tracing performance is improved.