关键词: 自适应摩擦补偿, 观测器/滤波器结构, 非线性动态摩擦, 精密特台系统

Abstract:

In order to eliminate the nonlinear dynamic friction force in a high-precision tumtable system and to improve the position-tracking accuracy of the tumtable in swing motion , a novel adaptive friction compensation method is developed , in which Lugre's dynamic friction model is adopted to characterize the friction torque. In this proposed method , the nonlinear observer/filter structure is used to compensate the uncertainty of friction parameters ,and dual nonlinear filters are introduced to improve the position-tracking performance of the tumtable system by adjusting the gains of the filters. The asymptotic stability of the closed-Ioop system is then proved by a Lyapunov-like argument , and the effectiveness of the proposed approach is finally verified by simulation.

Key words: adaptive friction compensation, observer/filter structure, nonlinear dynamic friction, precision tumtable system