作者：赵回, 王雪梅, 许哲, 杨柱, 吴桐, 王健永
作者单位：火箭军工程大学, 陕西 西安 710025
关键词：转台伺服系统;LuGre摩擦模型;非线性干扰观测器;自适应滑模控制
摘要：
为提高转台伺服系统的低速跟踪性能，提出一种结合LuGre摩擦模型和非线性干扰观测器（NDO）补偿非线性干扰的方法。使用LuGre摩擦模型补偿系统的摩擦干扰力矩，建立NDO模型消除系统建模不精确及其他未知干扰的影响，并采用反演法设计系统的自适应滑模控制律。通过仿真表明，基于LuGre+NDO模型自适应滑模控制能有效消除转台的低速“爬行”现象，位置稳态误差达到2×10-5 rad，速度稳态误差达到1.5×10-3 rad/s。且通过与传统控制方法结果对比，证明所提出的方法具有较好的控制性能和干扰抑制特性，提高伺服系统的跟踪性能。
Research on a method of turntable servo system disturbance compensated control
ZHAO Hui, WANG Xuemei, XU Zhe, YANG Zhu, WU Tong, WANG Jianyong
Rocket Force University of Engineering, Xi'an 710025, China
Abstract: In order to improve the low-speed tracking performance of the turntable servo system, this paper proposes a method combining LuGre friction model and nonlinear disturbance observer (NDO) to compensate nonlinear interference. This paper uses LuGre friction model to compensate the frictional disturbance torque of the system and establishes NDO model to eliminate the influence of inaccurate system modeling and other unknown disturbances. And the adaptive sliding mode control law of the system is designed by using the backstepping method. The simulation results show that the adaptive sliding mode control based on LuGre+NDO model can effectively eliminate the low speed "crawling" phenomenon of the turntable. The steady state error of the position is 2×10-5 rad. The steady state error of speed is 1.5×10-3 rad/s. Compared with the traditional control method, it is proved that the proposed method has better control performance and interference suppression characteristics, and improves the tracking performance of servo system.
Keywords: the turntable servo system;LuGre friction model;nonlinear disturbance observer;adaptive sliding mode control
2019, 45(3):139-145 收稿日期: 2018-02-01;收到修改稿日期: 2018-03-01
基金项目: 国家自然科学基金项目（61573365，61174030）
作者简介: 赵回(1994-),男,河南信阳市人,硕士研究生,专业方向为导航、制导与控制
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