采用复合控制的直流力矩电机摩擦补偿

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负载扰动,为提高转台位置跟踪精确度,采用复合控制方法进行摩擦补偿研究.在转台直流电机系统中,电机模型采用简化的二阶线性直流电机模型,摩擦模型采用摩擦参数为非一致性变化的动态摩擦模型.补偿方法包含一个参数自适应律和CMAC神经网络,用于估计未知模型参数、辨识位置周期摩擦扰动并给与补偿.仿真结果表明,复合控制补偿方法保证了闭环系统全局稳定性和对期望位置信号的渐进跟踪,提高了转台位置跟踪精确度.

Complex control for friction compensation in DC motors

A complex compensation scheme is presented in this paper to compensate the dynamic friction as well as the load disturbance in the DC motor system of the gyro drift test turntable.A simplified second-order linear model was used for the DC motor system while the dynamic friction model with non-uniform friction force variations characterized the friction force in the motor system.The compensation scheme consist of an adaptive component and CMAC neural network for estimating the unknown system parameters,identifying and compensating position-dependent periodic friction disturbances.The system stability and the asymptotic position tracking performance are validated by using the compensation scheme and computer simulations verify the effectiveness of the proposed scheme for high-precision motion trajectory tracking.