摘要
为克服某型光电稳定平台伺服系统中摩擦干扰力矩影响,提升其低速平稳性,设计一种基于模型参考自适应控制(model reference adaptive control,MRAC)方法的摩擦补偿控制器。采用实验数据对Stribeck摩擦模型参数进行近似估计,根据Lyapunov稳定控制理论设计摩擦补偿控制器,采用Matlab/Simulink进行仿真试验分析,并将算法在某型系统中实现。实验结果表明:该控制器能有效抑制摩擦干扰对系统带来的不利影响,使低速平稳性能得到较大提升。
In order to restrain the adverse effects of the friction torque disturbance existed in the electro-optical stableplatform servo system, and improve the low speed smoothness performance of its servo system, the parameters of Stribeckfriction model are approximately evaluated according to the experiment data, based on the Lyapunov stabilization controltheory, friction compensation controller is designed using the model reference adaptive control (MRAC) criteria.Matlab/Simulink is used for controller performance analysis. Apply the algorithm to the electro-optical system, theexperiment result shows that the disadvantages of the friction torque can be restrained, the low speed smoothnessperformance are enhanced.
作者
张钊
陈涛
周勇
杨波
Zhang Zhao;Chen Tao;Zhou Yong;Yang Bo(Research & Development Center of Weapon Equipment Information & Control, Automation Research Institute of China South Industries Group Corporation, Mianyang 621000, China;Huojia Power Supply Company in Henan, Xinxiang 453800, China)
出处
《兵工自动化》
2016年第11期68-70,共3页
Ordnance Industry Automation
