| 基于干扰观测器的惯性平台摩擦补偿方法 |
| |
| 引用本文： | 于爽,付庄,闫维新,赵言正.基于干扰观测器的惯性平台摩擦补偿方法[J].哈尔滨工业大学学报,2008,40(11):1830-1833. |
| |
| 作者姓名： | 于爽 付庄 闫维新 赵言正 |
| |
| 作者单位： | 上海交通大学机器人研究所,上海200240 |
| |
| 基金项目： | 航天科技创新基金
|
| |
| 摘 要： | 为研究摩擦对惯性平台跟踪性能的影响,根据摩擦力的Stribeck曲线建立了平台伺服系统中的摩擦力矩仿真模型,并提出用干扰观测器的方法来补偿其干扰.在介绍了干扰观测器的设计方法的基础上,建立了带有摩擦干扰的平台跟踪系统的控制模型.仿真结果表明,干扰观测器对摩擦干扰力矩有很好的补偿作用,使惯性平台的跟踪精度和抗干扰能力得到了提高.
|
| 关 键 词： | 摩擦力矩 惯性平台 干扰观测器 补偿 |
Method of friction compensation based on disturbance observer in inertial platform |
| |
| YU Shuang,FU Zhuang,YAN Wei-xin,ZHAO Yan-zheng.Method of friction compensation based on disturbance observer in inertial platform[J].Journal of Harbin Institute of Technology,2008,40(11):1830-1833. |
| |
| Authors: | YU Shuang FU Zhuang YAN Wei-xin ZHAO Yan-zheng |
| |
| Affiliation: | (Robotics Institute,Shanghai Jiaotong University,Shanghai 200240,China) |
| |
| Abstract: | In order to study the tracking performance coursed by friction in the inertial platform,the simulation model of friction torque in the inertial platform servo system is built based on Stribeck mathematical expression,and the method based on disturbance observer is proposed to compensate the friction disturbance.The design method of disturbance observer is introduced,and the control model with friction disturbance of inertial platform servo system is also built.The simulation results show that the disturbance observer performs very well on friction disturbance,and the tracking accuracy and capability of disturbance objection of inertial platform are increased clearly. |
| |
| Keywords: | friction torque inertial platform disturbance observer compensation |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
