导弹球窝喷管电动伺服系统摩擦积分自适应补偿控制

针对导弹球窝喷管电动伺服系统中存在摩擦非线性问题，提出一种基于改进稳态Lugre摩擦模型的摩擦积分自适应补偿控制策略。建立基于Lugre摩擦模型的球窝喷管电动伺服系统运动学方程，并结合修正稳态Lugre摩擦模型完成伺服系统简化状态方程；采用反步设计方法，设计含摩擦积分补偿的非线性控制器，同时引入摩擦参数自适应律提高补偿精度，并通过设计Lyapunov函数保证系统全局渐近稳定性；开展了基于遗传算法稳态Lugre摩擦模型参数辨识，建立含摩擦模型的电动伺服系统仿真模型并验证了算法有效性，仿真试验结果表明，与传统PID控制相比，摩擦积分自适应补偿控制能较好地抑制波形畸变，提高了电动伺服系统低速跟踪性能。

Friction Integral Adaptive Compensation Control for Missile Ball-Socket Nozzle Electric Servo System

Aiming at the problem of friction nonlinearity in the missile ball-socket nozzle electric servo system, a friction integral adaptive compensation control strategy based on an improved steady-state Lugre friction model is proposed. The kinematics equation of the ball and socket nozzle electric servo system based on the Lugre friction model is established, and the simplified state equation of the servo system is completed by combining the modified steady-state Lugre friction model. A backstepping design method is used to design a nonlinear controller with friction integral compensation. At the same time, a friction parameter adaptive law is introduced to improve the compensation accuracy, and a Lyapunov function is designed to ensure the global asymptotic stability of the system. A kind of parameter identification of the steady state Lugre friction model based on the genetic algorithm is carried out, and a simulation model of the electric servo system containing the friction model is established to verify the effectiveness of the algorithm. The simulation test results show that, compared with traditional PID control, the friction integral adaptive compensation control can better suppress wave shape distortion and improve the tracking performance of the electric servo system at low speed.