| 一种直流力矩电机系统的自适应摩擦补偿方法 |
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| 引用本文： | 克晶,苏宝库,曾鸣.一种直流力矩电机系统的自适应摩擦补偿方法[J].哈尔滨建筑大学学报,2003(5). |
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| 作者姓名： | 克晶 苏宝库 曾鸣 |
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| 作者单位： | 哈尔滨工业大学航天学院，哈尔滨工业大学航天学院，哈尔滨工业大学航天学院，黑，黑龙江 哈尔滨150001，黑龙江 哈尔滨150001，龙江 哈尔滨150001 |
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| 基金项目： | 武器装备预研基金(51409050101HT0121). |
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| 摘 要： | 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负载扰动,为提高转台位置跟踪精度,提出了一种新的自适应补偿方法.电机中摩擦模型采用摩擦参数为非一致性变化的 LuGre 动态模型.该方法控制器包含一个参数自适应律和等效 PD 控制律来估计未知 LuGre 模型参数和负载力矩参数并给与补偿.最后 Lyapunov 方法和仿真结果证明该自适应补偿方法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.
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| 关 键 词： | 直流力矩电机 摩擦补偿 自适应控制 |
Adaptive friction and load disturbance compensation for DC motors |
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| KE Jing SU Bao-ku ZENG Ming.Adaptive friction and load disturbance compensation for DC motors[J].Journal of Harbin University of Civil Engineering and Architecture,2003(5). |
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| Authors: | KE Jing SU Bao-ku ZENG Ming |
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| Abstract: | An adaptive compensation scheme is proposed to compensate the dynamic triction and load disturb- ance in a DC motor system.A simplified second-order linear model is used for the DC motor system while a LuGre dynamic friction model with non-uniform friction force variations characterizes the friction force in the motor system.The compensation scheme consists of a PD component and an adaptive component for estimating the unknown system parameters.The system stability and asymptotic position tracking performance are guaran- teed by Lyapunov function,and computer simulations verify the effectiveness of the proposed scheme for high- precision motion trajectory tracking. |
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| Keywords: | DC motor system friction compensation adaptive control |
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