飞机主动侧杆摩擦补偿研究

针对飞机主动侧杆系统中存在非线性摩擦因素，导致在飞机主动侧杆伺服系统中位置跟踪不精确，侧杆跟随性能下降的现象，在三环控制的基础上研究了Stribeck摩擦补偿方法。对Stribeck摩擦模型开展研究，并通过实验辨识其参数，将摩擦模型引入到飞机主动侧杆伺服系统中设计摩擦补偿方法，通过前馈补偿的方式在三环控制的基础上实现摩擦补偿。通过仿真和实验，对侧杆伺服系统摩擦补偿的可行性进行了验证。实验结果表明，所研究的摩擦补偿方法，提高了系统的稳态跟踪精度，具有较好的动态响应性能。

Research on Friction Compensation of Aircraft Active Side-stick

For the phenomenon that the non-linear friction factor exists in the aircraft active side-stick system, which leads to inaccurate position tracking in the aircraft active side-stick servo system, the paper puts forward the method which adds the Stribeck friction compensation based on the three-loop control. The paper firstly researches the Stribeck friction model and identifies its parameters through experiments. Then the paper introduces the Stribeck friction model into the aircraft active side-stick servo system, designs the friction compensation method, and achieves the friction compensation on the basis of the three-loop control through the feed-forward compensation. Finally, the paper verifies the feasibility of friction compensation in the aircraft active side-stick servo system through simulation and experiments. The experimental results show that the friction compensation method in this paper improves the steady-state tracking accuracy and achieves better dynamic response performance.