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文章研究了含有静态摩擦的伺服系统的摩擦参数辨识问题。首先,将系统摩擦分为线性摩擦部分和非线性摩擦部分,使用最小二乘法得到摩擦参数的估计值;然后,为了算法在实际DSP芯片中的实用性,使用Pade逼近来表示非线性摩擦部分;最后,设计了使用前馈补偿的PD控制器。仿真实验结果表明:文章使用的简捷的方法,既能很好地对摩擦参数进行估计,又能有效地对摩擦进行补偿,并且具有工程实践价值。
In this paper, the friction parameter identification of servo system with static friction is studied. First of all, the system friction is divided into the linear friction part and the non-linear friction part, and the estimation of the friction parameter is obtained by using the least squares method. Secondly, Pade approximation is used to represent the nonlinear friction part for the practicality of the algorithm in the actual DSP chip. Finally, a PD controller using feedforward compensation is designed. The simulation results show that the simple and convenient method used in this paper not only can estimate the friction parameters well, but also compensate the friction effectively, and it has the value of engineering practice.