基于LuGre模型补偿的转速复合控制系统

Design of Speed Compound Control System Based on Lugre Model Friction Compensation

高精度伺服电机双闭环转速控制系统中,转速控制器仅采用PI控制时,受系统摩擦力矩干扰,易出现爬行、抖动、顿挫等现象。针对该问题,本文对伺服电机转速控制系统模型进行分析,引入LuGre模型摩擦补偿,并对摩擦模型的动静态参数进行辨识,构成基于LuGre模型补偿的复合转速控制器。仿真结果表明,该复合控制器可有效抑制系统摩擦干扰,提升转速控制的响应速度和稳定精度,提高转速过零点的平滑度。

In the double closed-loop speed control system of high-precision servo motor,when the speed control-ler is only controlled by pi,it is easy to crawl,shake and stumble due to the interference of system friction torque.To solve this problem,this paper analyzes the servo motor speed control system model,introduces LuGre model friction compensation,identifies the dynamic and statie parameters of the friction model,and forms a composite speed controller based on LuuGre model compensation.The si mulation results show that the composite controller can effectively suppress the syst em friction interference,improve the response speed and stability accuracy of speed con-trol,and improve the smoothness of speed zero crossing.