| The nonlinear friction is seriously restricting the development of servo system. Therefore, the research on the friction compensation technology has important theoretical significance and wide application. In this thesis, according to the AC servo system, based on the analysis on the principle of friction compensation. The compensation strategy based on the LuGre friction model is studied deeply. The main research work and results are as follows:1) Mathematical models were established according to components of open servo system, thus the Simulink exper iment model of closed loop AC servo system is established. The Simulink model is the basis of the applicat ion of the dSPACE software. Through simulation experiment, the friction characteristics of servo system are analyzed in detail.2) Using FFT data processing method to realize the static parameter identification of LuGre model. Simplified friction model, and combining the model reference adaptive method to ident ify the inertia of the system. The dynamic parameter is identified by using genetic algorithm.3) In order to improve the tracking accuracy of the servo system, a feed-forward control algor ithm was developed. The control principle and method of the speed feed-forward and acceleration feed-forward are described. By analysis of tracking hysteresis and nonlinear error, the feed forward compensation strategy, which consist of the speed feed-forward, acceleration feed-forward and based LuGre friction model was finally determined.4) Based on the dSPACE software, the double closed-loop control model is established. The single axis control and dual-axis linkage control scheme of motor were designed. By means of experiment, the performance of the feed forward compensation strategy was tested. |
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