| 两种补偿动态摩擦力的先进控制策略 |
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| 引用本文： | 丛爽.两种补偿动态摩擦力的先进控制策略[J].自动化学报,1998,24(2):236-240. |
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| 作者姓名： | 丛爽 |
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| 作者单位： | 1.中国科学技术大学自动化系,合肥; |
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| 摘 要： | 在小型DC伺服电机中,静摩擦力和库仑摩擦力的影响是相当明显的.本文提出
了改善系统响应特性的两种控制策略.第一种基于摩擦力模型的在线补偿.适用于变化信
号的跟踪.第二种基于自学习原理的重复控制,适用于周期信号的跟踪.两种控制策略均已
实施在计算机控制的伺服系统中.给出了与常规控制结果的对比.
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| 关 键 词： | 运动控制 先进控制策略 摩擦力补偿 重复控制 |
| 收稿时间： | 1996-4-8 |
Two Advanced Control Strategies for Dynamic Friction Compensation |
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| Cong Shuang,De Carli Alessandro.Two Advanced Control Strategies for Dynamic Friction Compensation[J].Acta Automatica Sinica,1998,24(2):236-240. |
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| Authors: | Cong Shuang De Carli Alessandro |
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| Affiliation: | 1.Dept.of Automation,University of Science and Technology of China,Hefei;Dept.of Computer and System Science,University of Rome"La Sapienza",Rome 00184 |
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| Abstract: | The effects of static and coulomb friction are obvious in small size DC servomotors.
The paper proposes two control strategies for improving the systems performance. The
first, the on-line friction model based compensation, is suitable for tracking variable signals.
The second, the repetitive control, based on self-learning principles, is suitable for tracking
periodic signals. These two control strategies have been implemented on computer-based servo
devices. The comparisons with conventional control results are given. |
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| Keywords: | ,Motion control, advanced control strategy, friction compensation, repetitive control, |
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