| 基于修正LuGre模型的反步自适应摩擦补偿控制 |
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| 引用本文： | 梁青,张剑,王永.基于修正LuGre模型的反步自适应摩擦补偿控制[J].微特电机,2011,39(11):67-69. |
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| 作者姓名： | 梁青 张剑 王永 |
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| 作者单位： | 中国科学技术大学,安徽合肥,230027 |
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| 摘 要： | LuGre模型是一种常用的对伺服系统进行动态摩擦建模和补偿的模型。基于一种改进的LuGre模型,建立了伺服系统模型;利用反步自适应控制算法得到系统控制律,并构造Lyapunov函数证明了系统的稳定性;将控制结果方面与传统的前馈PID固定摩擦补偿算法进行比较。仿真结果表明该方法能有效降低摩擦因素的不利影响,且比传统的控制算法具有更高的跟踪精度。
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| 关 键 词： | 修正的LuGre模型 反步自适应控制 摩擦补偿 |
Adaptive Backstepping Friction Compensation Control Based on Modified LuGre Model |
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| LIANG Qing,ZHANG Jian,WANG Yong.Adaptive Backstepping Friction Compensation Control Based on Modified LuGre Model[J].Small & Special Electrical Machines,2011,39(11):67-69. |
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| Authors: | LIANG Qing ZHANG Jian WANG Yong |
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| Affiliation: | LIANG Qing,ZHANG Jian,WANG Yong(University of Science and Technology of China,Hefei 230027,China) |
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| Abstract: | LuGre model has been widely used in servo system for dynamic friction modeling and compensation.Model of servo system was built base on a modified LuGre model.Adaptive backstepping algorithm was used to get the control law,The closed-up system stability was proved according to Lyapunov theory.Compared with tradition feed-forward PID algorithm,the simulation results show that the proposed method can effectively reduce the adverse effect of the friction and improve the system tracking accuracy. |
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| Keywords: | modified LuGre model adaptive backstepping control friction compensation |
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