| 一种具有时变观测器增益的摩擦补偿方法 |
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| 引用本文： | 黄显林,鲍文亮,卢鸿谦,尹航.一种具有时变观测器增益的摩擦补偿方法[J].电机与控制学报,2011,15(11):46-49,54. |
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| 作者姓名： | 黄显林 鲍文亮 卢鸿谦 尹航 |
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| 作者单位： | 哈尔滨工业大学控制理论与制导技术研究中心,黑龙江哈尔滨,150001 |
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| 基金项目： | 国家自然科学基金(60874084) |
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| 摘 要： | 为有效抑制摩擦扰动对光电平台性能的影响,针对环架轴系间的摩擦由LuGre模型描述的情况,设计自适应摩擦补偿控制器.提出一种采用具有时变增益摩擦状态观测器的摩擦补偿方法,通过类李雅普诺夫分析证明整个闭环系统跟踪误差的渐近收敛性.仿真结果表明,通过对时变增益函数中设计参数的适当选择,相比采用具有常数增益的观测器,系统的角速...
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| 关 键 词： | 光电平台 视轴稳定 摩擦补偿 时变增益 自适应控制 |
Friction compensation using observers with time-varying gain |
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| HUANG Xian-lin,BAO Wen-liang,LU Hong-qian,YIN Hang.Friction compensation using observers with time-varying gain[J].Electric Machines and Control,2011,15(11):46-49,54. |
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| Authors: | HUANG Xian-lin BAO Wen-liang LU Hong-qian YIN Hang |
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| Affiliation: | HUANG Xian-lin,BAO Wen-liang,LU Hong-qian,YIN Hang (Center for Control Theory and Guidance Technology,Harbin Institute of Technology,Harbin 150001,China) |
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| Abstract: | To reject the friction disturbance of the Electro-Optical platform system,suppose that friction torque between the gimbals is described by LuGre model,an adaptive friction compensator is designed.Friction compensation using friction state observers with time-varying gain is put forward.And asymptotic convergence of the tracking error of closed loop system is proved through Lyapunov-like analysis.Simulation results show that,with the design parameters in the time-varying gain function tuned properly,the resp... |
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| Keywords: | Electro-Optical platform line-of-sight stabilization friction compensation time-varying gain adaptive control |
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