| 高精度转台摩擦力矩补偿控制器设计与仿真 |
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| 引用本文： | 李拥军,杨文淑,范永坤,熊皑. 高精度转台摩擦力矩补偿控制器设计与仿真[J]. 光电工程, 2008, 35(12): 126-130 |
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| 作者姓名： | 李拥军 杨文淑 范永坤 熊皑 |
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| 作者单位： | 中国科学院光电技术研究所,成都,610209;中国科学院研究生院,北京,100039;中国科学院光电技术研究所,成都,610209 |
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| 摘 要： | 针对高精度转台在低速运行时,由于摩擦力矩的作用,跟踪精度会受到很大的影响的实际情况,本文提出将Stribeck摩擦力矩模型应用于高精度转台系统,并设计控制器,可以在线的对摩擦力矩进行辨识和补偿.该方法根据摩擦力矩模型的特点,采用前馈+积分反馈设计控制器.并采用Lyaponov函数和拉萨尔一般不变性原理分析了系统的稳定性,证明在一定的条件下,可以实现渐进稳定跟踪.实验结果表明,控制器对非线性摩擦力矩具有补偿作用.
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| 关 键 词： | 高精度转台系统 摩擦力矩 补偿 Lyapunov函数 拉萨尔一般不变性原理 |
| 收稿时间： | 2008-05-22 |
Controller Design and Simulation for Friction Moment Compensation on High-precision Turntable |
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| LI Yong-jun,YANG Wen-shu,FAN Yong-kun,XION Gai. Controller Design and Simulation for Friction Moment Compensation on High-precision Turntable[J]. Opto-Electronic Engineering, 2008, 35(12): 126-130 |
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| Authors: | LI Yong-jun YANG Wen-shu FAN Yong-kun XION Gai |
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| Affiliation: | LI Yong-jun1,2,YANG Wen-shu1,FAN Yong-kun1,XIONG Ai1,2(1.Institute of Optics , Electronics,Chinese Academy of Sciences,Chengdu 610209,China,2.Graduate School of Chinese Academy of Sciences,Beijing 100039,China) |
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| Abstract: | Friction moment effect is one of main factors which affect the tracking accuracy of high-precision turntable system when the system works at a low velocity.The Stribeck friction model was put on the high-precision turntable system,and then a controller was designed,which could identify and compensate the friction moment online.According to the characters of the friction moment model,the controller was designed by feedforward+integral feedback strategy.And we analyzed the stability by using Lyapunov function... |
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| Keywords: | high-precision turntable system friction moment compensation Lyapunov function Lasalle common invariance priciple |
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