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自适应算法 |
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Lyapunov稳定性理论 |
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摩擦补偿 |
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柳井莉 |
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陈方斌 |
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王红红 |
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宋晓明 |
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Article by Liu, J. L. |
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Article by Chen, F. B. |
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Article by Wang, H. H. |
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Article by Song, X. M. |
为了解决低速状态下跟踪转台在摩擦力矩作用下出现低速爬行现象，以某光电跟踪转台为研究对象，根据Lyapunov稳定性理论和自适应控制理论，提出了自适应摩擦补偿方法。通过在经典伺服控制回路中增加摩擦补偿器，以达到抑制低速爬行现象，提高设备低速平稳性能。对比补偿前后转台的输出速度仿真曲线，表明该方法能够有效地抑制低速爬行现象的产生，提高转台的稳定跟踪性能，适合于工程应用。
Because of friction disturbance, jitter often happens when the table is working at low speed, which terribly influences the tracking precision. Taking the electrooptical rotation table as a plant, based on Lyapunov’s law and adaptive control theory, an adaptive friction compensation method is designed to reduce the disturbances of the friction and improve the tracking performance. The simulation results demonstrate that the method can reduce jitter and provide the better stable tracking performance.
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