一种自适应摩擦补偿方法研究

首先针对非线性摩擦对伺服系统建模的影响问题，通过适当的实验设计，得到了一组标称非线性摩擦模型以及系统模型参数。在此基础上，考虑到运行条件以及环境的变化，综合了基于模型参考自适应控制的摩擦补偿控制器。最后，对上述方法进行仿真研究，结果表明，利用该控制器提高了系统的控制性能。

Study of a method on adaptive friction compensation

Against the effect of nonlinear friction to servo system modeling, a set of nominalfriction model and system model parameters are presented in this paper at first. Then, a friction compensation controller based on model reference adaptive control is synthesized whenrunning conditions and variation of environment are considered. Finally, simulation studiesare performed. The results show that this controller enhances the system performance.