Journal of South China University of Technology (Natural Science Edition) ›› 2007, Vol. 35 ›› Issue (9): 55-59.

• Electronics, Communication & Automation Technology • Previous Articles     Next Articles

An Adaptive Friction Compensation Method for High-Precision Turntable System

Wang Zhong-shan  Wang Yi  Su Bao-ku   

  1. Space Control and Inertial Technology Research Center , Harbin Institute of Tech. , Harbin 150001 , Heilongjiang , China
  • Received:2006-10-16 Online:2007-09-25 Published:2007-09-25
  • Contact: 王忠山(1979-) ，男，博士生，主要从事高精度转台摩擦补偿方面的研究. E-mail:wzhongshan@hit. edu.cn
  • About author:王忠山(1979-) ，男，博士生，主要从事高精度转台摩擦补偿方面的研究.

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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