Adaptive control of servo system based on LuGre model

[摘要] This paper established a mechanical model of feed system based on LuGre model. In order to solve the influence of nonlinear factors on the system running stability, a nonlinear single observer is designed to estimate the parameter z in the LuGre model and an adaptive friction compensation controller is designed. Simulink simulation results show that the control method can effectively suppress the adverse effects of friction and external disturbances. The simulation show that the adaptive parameter kzis between 0.11-0.13, and the value of gamma1 is between 1.9-2.1. Position tracking error reaches level 10-3and is stabilized near 0 values within 0.3 seconds, the compensation method has better tracking accuracy and robustness.

[发布机构] School of Nuclear Technology and Automation Engineering, Chengdu University of Technology, Chengdu; 610059, China^1

[效力级别] 无线电电子学

[关键词] Adaptive friction compensation;Adaptive parameters;Compensation method;External disturbances;Nonlinear factors;Position tracking errors;Running stability;Simulink simulations