新型摩擦模型的参数辨识及补偿实验研究

The experimental study of parameter identification of a new friction model and compensation based on it

针对影响运动控制性能的非线性摩擦因素，对一种新型摩擦模型的参数 辨识及其基于摩擦模型的补偿进行了实验研究，详细地给出了摩擦模型参数的 辨识步骤及补偿算法。实验结果表明，此辨识方案及补偿算法可以应用于工业 的高精度运动控制中。

In this paper, parameters identification of a novel friction model and friction compensation based on this model is studied by experiment aiming at the nonlinear friction factors that affect the performance of motion control. The steps of the friction model parameters identification and friction compensation algorithm are described in detail. The experimental results are presented to demonstrate the identification and friction compensation algorithm can be applied to the high accuracy motion control of industry.