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科技导报
|研究论文
2011
, 29
(20) :
53
-56
二自由度随动系统的自适应摩擦补偿
全屏
王红茹1 , 王建中2
作者信息
1. 江苏科技大学机械工程学院,江苏镇江 212003;2. 北京理工大学机电学院,北京 100081
Adaptive Friction Compensation for 2-DOF Tracking System
WANG Hongru1 , WANG Jianzhong2
Affiliations
1. School of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang 212003, Jiangsu Province, China;2. School of Mechatronics, Beijing Institute of Technology, Beijing 100081, China
出版时间: 2011-07-18
doi: 10.3981/j.issn.1000-7857.2011.20.009
文章导航
为提高二自由度随动系统的跟踪精度,针对系统中存在的摩擦扰动问题,提出了一种基于LuGre模型的自适应摩擦补偿方法.该方法采用离线估计法对LuGre模型中未知参数进行估计,采用非线性观测器和自适应律估计LuGre摩擦模型中的不可测状态变量和易变未知参数.最后利用Lyapunov方法证明了整个闭环系统的渐进稳定性.仿真实验表明,该方法能有效补偿摩擦对二自由度随动系统低速性能的影响,从而提高跟踪精度.
目标跟踪
/
摩擦补偿
/
双观测器结构
/
自适应律
/
二自由度随动系统
In order to eliminate nonlinear effects of friction on 2-DOF tracking system and to improve its position-tracking accuracy, a novel adaptive friction compensation algorithm is proposed. Based on nonlinear characteristics of friction, a LuGre dynamic friction model is adopted to characterize friction in the 2-DOF tracking system. In this method, unknown parameters for the LuGre model are estimated in the manner of off-line; friction state and the inconstant parameters are estimated by using nonlinear observers and self-adaptive law. A Lyapunov-like argument proves the asymptotic stability of the whole closed-loop system. Experimental results indicate that the proposed method could effectively alleviate the influences of friction when the 2-DOF tracking system works with a lower speed, and could improve tracking accuracy for the 2-DOF tracking system accordingly.
target tracking
/
friction compensation
/
dual-observer structure
/
self-adaptive law
/
2-DOF tracking system
王红茹;王建中.
二自由度随动系统的自适应摩擦补偿.
科技导报,
2011
, 29
(20)
: 53
-56
.
DOI: 10.3981/j.issn.1000-7857.2011.20.009
WANG Hongru;WANG Jianzhong.
Adaptive Friction Compensation for 2-DOF Tracking System[J].
Science & Technology Review ,
2011
, 29
(20)
: 53
-56
.
DOI: 10.3981/j.issn.1000-7857.2011.20.009
2011年第29卷第20期
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文章信息
doi: 10.3981/j.issn.1000-7857.2011.20.009
接收时间：2010-11-10
首发时间：2011-07-18
出版时间：2011-07-18
收稿日期：2010-11-10
修回日期：2011-05-31
https://castjournals.cast.org.cn/joweb/kjdb/CN/10.3981/j.issn.1000-7857.2011.20.009
引用本文
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2种不同金属材料的力学参数
科 属数 种数 占总种数比例 属 种数 占总种数比例 鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78 小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39 多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39 红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87 小菇属 Mycena 11 5.26 光柄菇属 Pluteus 5 2.39 红菇属 Russula 17 8.13 栓菌属 Trametes 5 2.39
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