Abstract
In order to promote the dynamic performance and improve the adaptive ability of the open servo system,an adaptive friction compensation based on LuGre model is presented.The dynamic model of open servo system is established,and the friction characteristics are described based on LuGre model.Considering the parameters of friction model changed with the system,the controller of adaptive friction compensation is designed through backstepping method,and the global asymptotic stability of control system is proved by Lyapunov theorem.The adaptive friction compensation scheme is achieved by programmable multi-axis controller(PMAC),and the effectiveness of the scheme is verified by experiments.The experimental results show that comparing with the conventional feedforward compensation of velocity and acceleration,the adaptive friction compensation makes the tracing error of the sinusoidal motion decreases from ±40 μm to ±7 μm.Therefore,the proposed compensation scheme can effectively inhibit the disadvantageous influence of friction and lay the foundation for improvement of dynamic performance of servo system.
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