| 基于分解的摩擦补偿研究 |
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| 引用本文： | 王文霄,曾鸣.基于分解的摩擦补偿研究[J].机械工程师,2005(10):61-63. |
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| 作者姓名： | 王文霄 曾鸣 |
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| 作者单位： | 哈尔滨工业大学,空间控制与惯性技术研究中心,黑龙江,哈尔滨,150001 |
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| 摘 要： | 文中提出了一个基于分解的控制设计框架并合成了摩擦补偿方案,以最合适的控制方法来补偿每个类型的摩擦.具有未知但恒定的参数的未建模摩擦由自适应来进行补偿,而模型参数变化的摩擦及非参数未建模摩擦由鲁棒补偿器来进行补偿.两种补偿器综合起来,构成了总的补偿方案,仿真结果证明了该摩擦补偿方案的有效性.
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| 关 键 词： | 摩擦补偿 基于分解 自适应控制 鲁棒控制 |
| 文章编号： | 1002-2333(2005)10-0061-03 |
| 收稿时间： | 2005-06-13 |
| 修稿时间： | 2005年6月13日 |
The Research of Decomposition-Based Friction Compensation |
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| WANG Wen-xiao,ZENG Ming.The Research of Decomposition-Based Friction Compensation[J].Mechanical Engineer,2005(10):61-63. |
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| Authors: | WANG Wen-xiao ZENG Ming |
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| Affiliation: | Space Control and Inertial Technology Research Center,Harbin Institute of Technology,Harbin 150001,China |
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| Abstract: | In this paper,a proposed decomposition-based control design framework is applied to synthesize the friction compensation scheme.A separate compensator is designed for each type of friction utilizing the most suitable control technique.An adaptive compensator is derived to compensate for parametric unmodeled friction with unknown but constant parameters,and a robust compensator is used to deal with friction model parameter variations,as well as non-parametric unmodeled friction,The combination of the compensators yields the overall compensation scheme.The simulation studies have confirmed the efficiency of the proposed friction compensation method. |
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| Keywords: | friction modeling friction compensation decomposition-based adaptive control robust control |
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