CAJ | 학술논문

针对交流位置伺服系统中具有摩擦非线性、参数不确定性以及外界扰动等问题，建立了基于LuGre理论的非线性摩擦模型伺服系统模型，并考虑了包括永磁同步电机、传动丝杠在内的非线性摩擦，提出了一个基于模型的摩擦补偿算法。仿真和试验结果表明，摩擦模型能有效描述交流位置伺服系统的非线性摩擦，摩擦补偿控制算法可以有效提高位置跟踪和速度跟踪的精确度。
침대교류위치사복계통중구유마찰비선성、삼수불학정성이급외계우동등문제，건립료기우LuGre이론적비선성마찰모형사복계통모형，병고필료포괄영자동보전궤、전동사강재내적비선성마찰，제출료일개기우모형적마찰보상산법。방진화시험결과표명，마찰모형능유효묘술교류위치사복계통적비선성마찰，마찰보상공제산법가이유효제고위치근종화속도근종적정학도。
In the position servo system of wide speed regulation ,large output of multi start and stop ,the traditional closed loop control is difficult to meet the requirement of high perform‐ance system .According to the AC position servo system with friction nonlinearity ,parameter un‐certainties and external disturbances and other issues ,the nonlinear friction model of servo sys‐tem model based on LuGre theory was established .Then nonlinear friction model takes into ac‐couny the nonlinear friction of drive screw and permanent magnet synchronous motor .A friction compensation algorithm based on the model was proposed ,The simulation and experiment results show that the nonlinear friction model can effectively describe the AC position servo system and the ,friction compensation control algorithm can effectively improve the tracking speed and track‐ing precision .