Application research of gun servo system based on Stribeck friction model

Abstract

The gun servo system has strong friction resistance moment. The traditional solution is to reduce the influence of friction disturbance on system control through speed closed-loop. The disadvantage of this method is that the control accuracy of the system is not high due to the lag effect of feedback. To solve this problem, based on the analysis of the composition and working principle of the gun servo system, the friction data of the servo system is obtained through the test, the Stribeck friction model of the system is identified by the method of curve fitting, and the disturbance of the friction torque is compensated and controlled by the control method of feedforward compensation based on disturbance. The simulation results show that this method has good compensation and control ability for the disturbance of friction resistance moment. After using this method, the dynamic tracking accuracy and control performance of the system are greatly improved.