论文部分内容阅读
首先针对非线性摩擦对伺服系统建模的影响问题，通过适当的实验设计，得到了一组标称非线性摩擦模型以及系统模型参数。在此基础上，考虑到运行条件以及环境的变化，综合了基于模型参考自适应控制的摩擦补偿控制器。最后，对上述方法进行了仿真研究，结果表明，利用该控制器提高了系统的控制性能。
Firstly, aiming at the influence of nonlinear friction on the modeling of servo system, a set of nominal nonlinear friction model and system model parameters are obtained through proper experimental design. On this basis, the friction compensation controller based on model reference adaptive control is integrated considering the operating conditions and the changes of the environment. Finally, the simulation of the above method is carried out. The results show that the controller can improve the control performance of the system.