考虑模型不确定性的基于分解控制直流电机系统的摩擦补偿方法

针对陀螺漂移测试转台直流力矩电机系统中存在的非线性动态摩擦和电机波动力矩，为提高转台摇摆状态位置跟踪精度，该文基于分解控制的设计方法提出了一种新的鲁棒自适应摩擦补偿方法。该设计具有积分形式的自适应补偿器来补偿常值的可参数化的摩擦模型不确定性，而设计鲁棒补偿器来补偿不可参数化的摩擦模型不确定性。最后综合两种补偿器形成完整的补偿控制律。Lyapunov方法证明了闭环系统全局稳定性和对期望位置信号的渐进跟踪性能，仿真结果证实了该补偿方法对高精度运动曲线跟踪的有效性。

DECOMPOSITION-BASED FRICTION COMPENSATION FOR DC MOTORS WITH MODEL UNCERTAINTIES

A new friction compensation scheme is developed further in this paper. The scheme is applying the decomposition based control design approach to handle the friction model uncertainties as well as the ripple force that exist in the DC motor system. An adaptive compensator is derived to compensate for the influence of unknown but constant parametric uncertainty, and a robust compensator is used to deal with the nonparametric uncertainty. The combination of the compensators yields the overall compensation scheme. The system stability and the uniformly ultimately position tracking performance are guaranteed by using Lyapunov function. Computer simulations verify the effectiveness of the proposed scheme for high-precision motion trajectory tracking.