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[1]黄显林,鲍文亮,卢鸿谦,等.一种具有时变观测器增益的摩擦补偿方法[J].电机与控制学报,2011,(11):46-49.
 HUANG Xian-lin,BAO Wen-liang,LU Hong-qian,et al.Friction compensation using observers with time-varying gain[J].,2011,(11):46-49.
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一种具有时变观测器增益的摩擦补偿方法(PDF)
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
期数:
2011年11
页码:
46-49
栏目:
出版日期:
2011-11-20

文章信息/Info

Title:
Friction compensation using observers with time-varying gain
作者:
黄显林; 鲍文亮; 卢鸿谦; 尹航;
哈尔滨工业大学控制理论与制导技术研究中心;
Author(s):
HUANG Xian-linBAO Wen-liangLU Hong-qianYIN Hang
Center for Control Theory and Guidance Technology,Harbin Institute of Technology,Harbin 150001,China
关键词:
光电平台 视轴稳定 摩擦补偿 时变增益 自适应控制
Keywords:
Electro-Optical platform line-of-sight stabilization friction compensation time-varying gain adaptive control
分类号:
TP273.2
DOI:
-
文献标志码:
A
摘要:
为有效抑制摩擦扰动对光电平台性能的影响,针对环架轴系间的摩擦由LuGre模型描述的情况,设计自适应摩擦补偿控制器。提出一种采用具有时变增益摩擦状态观测器的摩擦补偿方法,通过类李雅普诺夫分析证明整个闭环系统跟踪误差的渐近收敛性。仿真结果表明,通过对时变增益函数中设计参数的适当选择,相比采用具有常数增益的观测器,系统的角速度跟踪误差进入0.03 rad/s误差带的时间由62 s提升至44.5 s,稳态误差峰峰值由0.041 3 rad/s提升至0.032 5 rad/s。系统获得了响应速度和响应精确度的同时提升。
Abstract:
To reject the friction disturbance of the Electro-Optical platform system,suppose that friction torque between the gimbals is described by LuGre model,an adaptive friction compensator is designed.Friction compensation using friction state observers with time-varying gain is put forward.And asymptotic convergence of the tracking error of closed loop system is proved through Lyapunov-like analysis.Simulation results show that,with the design parameters in the time-varying gain function tuned prope...

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备注/Memo:
国家自然科学基金(60874084)
更新日期/Last Update: 2012-04-11