Abstract

Info

Author(s):: YU Zhi-wei; ZENG Ming; QIAO Da-peng; Space Control and Inertial Technology Research Center, Harbin Institute of Technology

Keywords:: turntable; adaptive controller; neural network; complex control; friction

Abstract:: A complex compensation scheme is presented in this paper to compensate the dynamic friction as well as the load disturbance in the DC motor system of the gyro drift test turntable. A simplified secondorder linear model was used for the DC motor system while the dynamic friction model with nonuniform friction force variations characterized the friction force in the motor system. The compensation scheme consist of an adaptive component and CMAC neural network for estimating the unknown system parameters, identifying and compensating positiondependent periodic friction disturbances. The system stability and the asymptotic position tracking performance are validated by using the compensation scheme and computer simulations verify the effectiveness of the proposed scheme for highprecision motion trajectory tracking.