基于改进Dahl模型的自适应摩擦补偿研究

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Aiming at the problems of stick-slip motion, tracking error and limit cycle oscillation and so on, which were caused by the friction phenomenon generally existing in servo control system, the Dahl friction model and the LuGre friction model commonly used in servo system were analyzed and compared, to discuss a modified Dahl model which could improve the stability of the friction link and describe stick-slip motion. Then based on the method of the Lyapunov stability analysis, an algorithm of adaptive friction compensation based on modified Dahl model was designed, and adaptive friction compensation and PD control compensation of servo system with friction disturbance were simulated and tested. The results of simulation and experiment indicate that modified Dahl adaptive compensation can be better to weaken the disturbance of friction in system low velocities running, improve the precision of orientation and positioning of systems, and increase system stability than PD control compensation.针对在伺服控制系统中普遍存在的摩擦现象所引起的低速爬行、跟踪误差、极限环振荡等问题，首先对伺服系统中常用的Dahl摩擦模型和LuGre摩擦模型进行了分析比较，介绍了一种改进的Dahl模型，该模型改善了摩擦环节的稳定性，并能描述滞一滑现象；然后基于Lyapunov稳定性分析的方法，设计了基于改进的Dahl模型的白适应摩擦补偿算法；最后对带有摩擦的伺服系统进行了自适应摩擦力矩补偿和PD控制补偿的仿真和实验。仿真和实验结果表明：改进的Dahl摩擦自适应补偿l~tPD控制补偿能更好地抑制伺服系统低速时摩擦所带来的干扰和影响，提高了定向、定位精度和系统稳定性。