摘要
在高精度伺服系统中,摩擦力是影响其低速性能的关键因素。介绍了LIP摩擦模型的特性及其数学描述,基于该模型提出了一种前馈摩擦力补偿方法。通过在伺服系统中仿真表明该方法能有效地提高系统的性能。
Friction is a key factor and plays an important role in many high-precise servo systems when they run at low speed. The characteristic and mathematic description of the LIP model are introduced, and a feedforward friction compensation method is presented based on this model. A simulation of a servo system is carried on and proved to be effectively to improve performance of the system.
出处
《科学技术与工程》
2007年第4期614-616,共3页
Science Technology and Engineering
关键词
伺服系统
摩擦力补偿
前馈控制
servo system friction compensation feedforward control
