利用模糊推理对基于Stribeck摩擦补偿模型的参数进行在线辨识, 使摩擦补偿量在数值上无限逼近真实的摩擦干扰; 通过建立伺服系统摩擦补偿模型, 仿真验证了该补偿方法的有效性, 并进一步在高精度光电跟踪平台上比较分析了有、无摩擦补偿的跟踪误差曲线, 验证了摩擦补偿效果, 实验表明该方法使过零波形畸变基本消失,跟踪误差降低为原来的20%, 显著提高了低速跟踪性能。

Fuzzy interference was used to identify the parameters of Stribeck friction compensation model online and make it infinitely approximate to the real friction interruption in numerical value.A servo system friction compensation model was built up and simulation was made to verify the validity of the method.In addition a comparison was made to the tracking errors with and without friction compensation by using a highly accurate optical-electro tracking system and the friction compensation effect was further verified.Experiment result showed that:1) The wave aberration of zero passage basically disappeared and the tracking error was reduced to 20% of the original value;and 2) The low speed tracking performance was improved dramatically.