一种具有参数不确定性的直流电机系统鲁棒自适应摩擦补偿方法

针对陀螺漂移测试转台直流力矩电机系统中存在的非线性动态摩擦和电机参数不确定性，为提高转台摇摆状态位置跟踪精度，提出了一种新的鲁棒自适应补偿控制器。电机中摩擦模型采用摩擦参数为非一致性变化的LuGre动态摩擦模型。该控制器包含一个参数自适应律和等效PID控制律来估计未知LuGre模型参数和电机参数并给与补偿。最后Lyapunov方法和仿真结果证明该鲁棒自适应补偿控制器保证了闭环系统全局稳定性和对期望位置信号的渐进跟踪，提高了转台摇摆跟踪精度。

ROBUST ADAPTIVE FRICTION COMPENSATION FOR DC MOTORS WITH PARAMETRIC UNCERTAINTIES

A robust adaptive compensation scheme is presented in this paper to compensate the dynamic friction as well as the parametric uncertainties that exist in the DC motor system. A simplified second-order linear model is used for the DC motor system while the LuGre dynamic friction model with non-uniform friction force variations characterizes the friction force in the motor system. The compensation scheme consists of a PID component and an adaptive component for estimating the unknown system parameters. The system stability and the asymptotic position tracking performance are validated by using Lyapunov function and computer simulations verify the effectiveness of the proposed schem for high-precision motion trajectory tracking.