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针对高精度火炮交流伺服系统中存在的非线性动态摩擦和电机力矩波动,为了提高火炮伺服系统的跟踪精度,提出了一种新的基于LuGre摩擦力矩模型的自适应补偿算法。该算法应用两个非线性观测器来估计摩擦模型中的未知状态变量,对系统参数进行自适应估计,采用Lyapunov方法证明了控制系统的全局渐进稳定性。该算法简单,适于实时控制。实验结果表明了该算法的合理性,火炮伺服系统的低速跟踪最大误差为50μrad,达到了指标要求。
In order to improve the tracking accuracy of the artillery servo system, a new adaptive compensation algorithm based on the LuGre friction torque model is proposed to deal with the nonlinear dynamic friction and the motor torque fluctuations existing in the high precision artillery AC servo system. The algorithm uses two nonlinear observers to estimate the unknown state variables in the friction model, and adaptively estimates the system parameters. The global asymptotic stability of the control system is proved by Lyapunov method. The algorithm is simple and suitable for real-time control. Experimental results show the rationality of this algorithm. The maximum error of low speed tracking of artillery servo system is 50μrad, which meets the requirement of the index.