| 一种LuGre摩擦模型自适应补偿的分析及仿真 |
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| 引用本文：刘东升,白桦,李文君,宋发兴.一种LuGre摩擦模型自适应补偿的分析及仿真[J].计算技术与自动化,2015,(3):16-20 |
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| 中文摘要:介绍一种降低低速转台伺服系统在转动过程中由于摩擦因数影响转动精度的方法。在低速转台转动的过程中由于摩擦力等的影响，转台的速度、位置都会发生偏差，所以在转台系统上引入摩擦控制补偿。利用公式推理，通过与理论值对比，发现自适应摩擦补偿方式与传统摩擦补偿方式相比，其跟踪误差大大降低，能有效抑制摩擦干扰对伺服系统的不利影响。进行基于MATLAB环境下的仿真效果。 |
| 中文关键词:摩擦模型 摩擦补偿 自适应控制 |
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| Analysis and Simulation for Self-adaptive Control Method Based on LuGre Friction Model |
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| Abstract:This paper introduced a method, which can reduce the friction factor affecting the rotation accuracy level in the turntable servo system at low speed. The speed and position of truntable will be biased influced by friction in the rotation process, so we add the friction compensation control in the turntable. By rational method, it can be concluded that the adaptive friction compensation can greatly decreace track error, compared with the traditonal friction compensation. We also made the simulation based on MATLAB environment. |
| keywords:friction model friction compensation self-adaptive control |
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