The Study, Based On The Lugre Model Of Friction Torque Compensation

As a hardware in the system of optoelectronic tracking system, table is very important in manufacturing precise servo system. Low velocities performance is one of the factors of evaluation servo system. There are many face in affecting table system performance including friction moment and electromotor wave moment and measuring error. It is very important to analyse table servo system low velocities and the method of friction compensation. It is very valuable to designing simple and good performance DC servo system.Firstly, the survey of friction modeling and friction compensation is first discussed in the paper, then LuGre friction model is put forward. This model is self-contained friction model at present.Secondly, the main factor of affecting servo system low velocities is analyzed, including friction motion and electromotor fluctuating motion. The stability of DC servo system with friction disturbance is analyzed.Thirdly, according to effect of servo system low velocities from friction, several method of friction compensation is discussed. These methods are based on the theory of model friction compensation, including LuGre observer and LuGre adaptive control system.At last, friction compensation of DC servo system with friction disturbance is simulated, and the result of simulation is obtained. It is proved that LuGre adaptive control compensation could affectively weaken the disturbance of friction in system low velocities running.