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标题：空间载荷伺服控制系统低速运动摩擦补偿 |
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作者：卢 盟，徐抒岩，曹晓涛 |
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| 2016年第4期 访问次数：277次 |
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摘要：为了降低运动摩擦和转矩波动对空间载荷伺服控制系统低速跟踪精度的影响，提出了基于简化LuGre摩擦模型和干扰观测器的摩擦误差补偿方法。为了减少伺服控制系统运算量，详细分析了适用于低速运行环境的LuGre摩擦理论；建立了简化的LuGre摩擦理论模型；设计了速度环干扰观测器；实现了由于低速运动摩擦影响空间载荷伺服系统跟踪精度补偿。通过Matlab/Simulink仿真，与传统的PID控制方法相比，该方法在正弦波作为输入信号时，可以消除伺服系统的低速爬行和抑制闭环速度扰动；在05°/s阶跃信号作为输入时，其跟踪误差带±00052°/s。
关键词：简化LuGre摩擦模型；摩擦补偿；转矩波动补偿；干扰观测器；低速
Abstract: To decrease the influence of friction and torque ripple on the angular speed accuracy of a precision servo spatial loading, a simplified friction compensation based on the LuGre model and a disturbance observer was put forward. To simplify the computing of servo control system operation, the LuGre friction theory for lowspeed operating environment was detailed analysed. The sampled LuGre friction compensation model was built, and the torque ripple on velocity loop was built. The friction of precision servo spatial loading was compensated. Compared with the traditional control method of PID, this method can eliminate the lowspeed crawl of servo system and inhibit the closed loop velocity perturbation when the sine wave was the input signal. The speed tracking error of system was ±00052°/s when the 05°/s step was the input signal.
Key words: LuGre friction model; friction compensation; torque ripple compensation; disturbance observer; lowspeed performance
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