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Model- Reference Adaptive Friction Compensation Based on the Velocity Observer
Author(s): 
Pages: 56-60
Year: Issue:  2
Journal: AEROSPACE CONTROL

Keyword:  *速度观测器补偿摩擦;
Abstract: 具有相对运动的机械伺服系统中都存在着摩擦干扰力矩.针对机械伺服系统不能提供速度信号时的摩擦补偿问题,本文提出了一种基于速度观测器的模型参考自适应摩擦补偿方法,该方法利用一降维观测器在线估计速度信号,并根据该估计信号构成模型参考自适应摩擦补偿器.根据摩擦补偿器构成的两种情况,对系统误差的收敛性进行了分析,并进行了仿真验证,仿真结果说明了该方法的有效性和可行性
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