| 基于观测器／滤波器结构的高精度转台自适应摩擦补偿 |
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| 引用本文： | 王忠山,苏宝库,王毅.基于观测器／滤波器结构的高精度转台自适应摩擦补偿[J].南京航空航天大学学报(英文版),2008,25(2):113-120. |
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| 作者姓名： | 王忠山 苏宝库 王毅 |
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| 作者单位： | 哈尔滨工业大学航天学院,哈尔滨,150001,中国 |
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| 摘 要： | 针对具有非线性动态摩擦的高精度转台系统，为了处理两种不同类型的摩擦参数不确定性，提出了两种自适应摩擦补偿方案。所提的两种方案均利用一种非线性观测器／滤波器结构来补偿转台系统中相应摩擦参数的不确定性。此外，第二种方案在双非线性滤波器中引入了可调增益，并通过调节滤波器增益来提高系统的位置跟踪性能。两种情况下，均采用基于Lyapunov的方法证明了整个闭环系统的全局渐近稳定性。仿真结果表明了所提方案的有效性。
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| 关 键 词： | 摩擦 滤波器 自适应摩擦补偿 高精度转台 观测器/滤波器结构 |
OBSERVER/FILTER STRUCTURE BASED ADAPTIVE FRICTION COMPENSATION FOR HIGH PRECISION TURNTABLE |
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| Wang Zhongshan,Su Baoku,Wang Yi.OBSERVER/FILTER STRUCTURE BASED ADAPTIVE FRICTION COMPENSATION FOR HIGH PRECISION TURNTABLE[J].Transactions of Nanjing University of Aeronautics & Astronautics,2008,25(2):113-120. |
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| Authors: | Wang Zhongshan Su Baoku Wang Yi |
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| Institution: | (School of Astronautics, Harbin Institute of Technology, Harbin, 150001, P. R. China) |
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| Abstract: | Two adaptive friction compensation schemes are developed for a high precision turntable system withnonlinear dynamic friction to handle two types of parametric uncertainties in the friction.Both schemes utilize anonlinear observer/filter structure to compensate for uncertainties in corresponding friction parameters associatedwith the turntable system.Moreover,in the second scheme,adjustable gains are introduced into the dual nonlin-ear filters and they can be tuned to improve the position tracking performance.In both cases,a Lyapunov-like ar-gument is provided for the global asymptotic stability of the closed-loop system.Simulation results demonstratethe effectiveness of the proposed schemes. |
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| Keywords: | friction wave filters adaptive friction compensation high precision turntable observer/filter struc-ture |
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