作者：向红标1, 王收军1, 张春秋1, 李醒飞2
作者单位：1. 天津理工大学 天津市先进机电系统设计与智能控制重点实验室, 天津 300384;
2. 天津大学 精密测试技术及仪器国家重点实验室, 天津 300072
关键词：摩擦补偿;跟踪误差;Stribeck模型;自适应滑模
摘要：
针对高速高准确度滚珠丝杠伺服控制系统,提出一种基于Stribeck模型的滑模自适应摩擦补偿控制方法。采用PMAC运动控制器搭建开放式控制平台,建立伺服系统的动力学模型,并通过Stribeck模型来反映系统的摩擦特性。采用Backstepping方法设计自适应滑模摩擦补偿控制器,并采用Lyapunov定理证明系统的全局渐进稳定性,最后通过编写伺服算法实现该摩擦补偿。实验结果表明:与速度加速前馈控制补偿相比,当输入速度为10 mm/s信号时,自适应滑模摩擦补偿其跟踪误差由35 m降低到4 m;当输入速度为100 mm/s信号时,自适应滑模摩擦补偿其跟踪误差由98 m降低到4 m。采用该补偿方案能有效抑制伺服系统的摩擦干扰,提高伺服系统准确度和动态跟踪性能。
Adaptive sliding friction compensation based on Stribeck model
XIANG Hongbiao1, WANG Shoujun1, ZHANG Chunqiu1, LI Xingfei2
1. Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System, Tianjin University of Technology, Tianjin 300384, China;
2. State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin 300072, China
Abstract: In view of high-speed and high-precision ball screw serve systems, a adaptive sliding friction compensation control method is proposed in this paper based on Stribeck model. The control method is set up based on a PMAC-opened control platform. In addition, a dynamic model of open servo system is established. Friction characteristics are described according to the Stribeck model. A controller for adaptive friction compensation is designed through Backstepping method. The global asymptotic stability of the control system is proved by Lyapunov theorem. Ultimately, adaptive sliding compensation is realized by compiling a servo algorithm on PMAC. The experimental results show that, compared with velocity and acceleration feed-forward compensation, the tracking error in adaptive sliding compensation decreases from 35 μm to ±4 μm when velocity is 10 mm/s, and from 98 μm to ±4 μm when the input velocity is 100 mm/s. Therefore, the method proposed in this paper can effectively restrict the friction interference of the servo system while improving its precision and tracking accuracy.
Keywords: friction compensation;tracking error;Stribeck model;adaptive sliding
2015, 41(9): 92-95 收稿日期: 2015-3-20;收到修改稿日期: 2015-4-29
基金项目: 国家自然科学基金(11172208);天津大学精密测试技术及仪器国家重点实验室开放基金(PIL1302);天津市高等学校科技发展基金计划项目(20130401)
作者简介: 向红标(1982-),男,重庆市人,讲师,博士,研究方向为控制技术、测试计量技术及仪器。
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