Analysis And Research On Friction Of Motor Servo Control System

Motor servo control system has been widely applied in industrial control,defense and other fields.The motor friction,as the main factor affecting the performance of the servo system,is the main object of servo system compensation.In this paper,the motor servo system in the seeker of the guided weapon was taken as the research object.The friction force model,the identification method,the compensation method and the optimization control algorithm were studied in the motor control system to achieve the purpose of improving the performance of servo control system.The contents of this paper include the following four parts:First,the friction model was introduced,including the static and dynamic friction model.The state's changes as the friction increasing gradually and some friction characteristics were analysed.Simultaneously,the two friction models were simulated,and the concrete influence of the friction on the system performance was analyzed.Then,the friction identification algorithm was proposed.The method was divided into two types: offline identification and on-line identification.The two methods were analyzed separately,including off-line data processing and perturbation observer online observation.At the same time,we studied the least squares method,which is a commonly used method for processing data.Then,the servo system's model including the friction was built,the friction compensation was added,and the system compensation function was designed according to the control theory like PID control,compound control and disturbance observer control.Finally,considering the shortcomings of the classical control algorithm,the BP neural network algorithm was used to set the PID parameters,and the BP neural network PID model was used to simulate the system.Due to the defects of the BP neural network,the self-disturbance observer was designed making a compensation for disturbances to optimize the servo system.This paper designed a more effective friction control compensation algorithm to realize the friction parameter's identification,friction compensation of the seeker motor,and optimize the servo control system of the seeker motor.