Research on Friction Compensation of Servo System Based on Modified Stribeck Model
The existence of nonlinear friction in electric servo loading system is inevitable,the friction dis-turbance with strong nonlinearity seriously affects the loading accuracy of the system.Firstly,aiming at the problem of friction disturbance in electric servo loading system,a modified Stribeck friction model was pro-posed to describe the friction characteristics of the loading system;Secondly,the controller was designed to suppress the nonlinear friction disturbance based on the backstepping control theory.Finally,aiming at the problem that the parameters of the friction model were easily affected by the changes of the internal and ex-ternal environment of the system,the adaptive control was used to further suppress the friction interference of the parameter changes.According to the simulation results:compared to the traditional PID control,the torque error of the system using the adaptive backstepping controller was reduced by 80.2%,which effec-tively suppresses the nonlinear friction disturbance in the system and improves the control accuracy of the loading system.
servo loading systemnonlinear frictionmodify of Stribeck friction modeladaptive backstep-ping control
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