宇航计测技术

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基于模型参考模糊自适应的转台摩擦力矩补偿研究

姜云翔1；王春喜1；马玲2；曹雪立3；王茂2；赵健1   

  1. 1、北京航天计量测试技术研究所，北京 100076；
    2、哈尔滨工业大学，哈尔滨 150001；
    3、北京航天控制仪器研究所，北京 100039
  • 出版日期:2018-08-25 发布日期:2018-08-25
  • 作者简介:姜云翔（1988-），男，硕士，主要研究方向：导航制导与瞄准定向系统测试。

Research of Friction Torque Compensation of Turntable Based on Model Reference Fuzzy Adaptive Method

JIANG Yun-xiang1；WANG Chun-xi1；MA Ling2；CA0 Xue-li3；WANG Mao2；ZHAO Jian1   

  1. 1、Beijing Aerospace Institute for Metrology and Measurement，Beijing 100076，China；
    2、Harbin Institute of Technology，Harbin 150001，China；
    3、Beijing Institute of Aerospace Control Devices，Beijing 100039，China
  • Online:2018-08-25 Published:2018-08-25

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摘要： 为克服某型伺服转台在摩擦力矩干扰下引起的低速“爬行”问题，设计了基于模型参考模糊自适应的摩擦补偿控制方法；并基于所建立的数学模型对该摩擦补偿方法进行了lyapunov稳定性证明，采用Matlab进行了仿真试验分析。仿真结果表明，该摩擦补偿方法能够有效抑制摩擦干扰的不利影响，提升了转台低速跟踪的平稳性，从而显著提高了转台的低速伺服精度。

关键词: 伺服转台, 模型参考, 模糊自适应, 摩擦补偿

Abstract: In order to restrain the significant low-speed "crawling" phenomenon caused by friction torque disturbance of servo turntable, a method of friction compensation based on model reference fuzzy adaptiveness was proposed. Based on the mathematic model, the friction compensation method is proved by the Lyapunov stabilization control theory and the simulation test is carried out by MATLAB. The simulation results show that the friction compensation method can effectively restrain the adverse effect of friction interference and improve the smoothness of low speed tracking of turntable, thus greatly improving  the low-speed servo accuracy of the turntable.

Key words: Servo turntable, Model reference, Fuzzy adaptive, Friction compensation

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