第19卷
第5期
2011年5月
文章编号
1004-924X(2011)05-1095-09
光学精密工程
Optics and Precision Engineering
谐波减速器的非线性摩擦建模及补偿
韩邦成，马纪军·，李海涛
（1.北京航空航天大学仪器科学与光电工程学院，北京100191；
Vol.19No,5
May 2011
2.北京航空航天大学新型惯性仪表与导航系统技术国防重点学科实验室，北京100191）
摘要：针对带有谐波减速器的双框架控制力矩陀螺框架伺服系统中的非线性摩擦间题，提出了非线性摩擦建模及补偿方法。首先，根据框架伺服系统数学模型导出率摄力矩与角加速度和电机电流的关系；然后，通过光电码盘测得的角位置计算角速率并设计估计器来估计电机端和负载端的角加速度，利用采样电流和估计的角加速度计算摩擦力矩，建立库伦十粘滞十Stribeck摩擦模型；最后，设计基于摩擦模型的前馈补偿控制器抑制非线性摩擦以提高系统控制精度，实验结果显示，与传统PID控制方法相比，伺服系统加人基于摩擦模型的前馈补偿之后，角速率误差曲线峰峰值减小28.2%，角速率误差均方值减小25.7%；表明通过基于障摄模型的前馈补偿可以有效抑制非线性障引起的角速率误差，提高伺服系统的控制精度。
关键调：控制力矩陀坏；谐波减速器；非线性摩擦；加速度估计；前馈
中图分类号：V241.5
文献标识码：A
doi;10.3788/OPE.20111905.1095
Modeling and compensation of nonlinear friction in harmonic driver
HAN Bang-cheng, MA Ji-jun', LI Hai-tao
(1.Schoolof InstrumentScienceandOptoelectronicsEngineering
BeihangUniversity,Beijing100191,China;
2.Key Laboratory of Fundamental Science for National Defense of Novel Inertial
InstrumentandNavigationSystemTechnology,BeihangUniversity，Beijing1ool9l,China)
+CorrespondingauthorE-mailmajijuncekong@yahoo.com,cn
Abstract: To overcome the influence of the nonlinear friction on the gimbal servo-system of a double gimbal control moment gyro with harmonic drivers,the methods of modeling and compensation of the nonlinear friction are proposed. Firstly, the relationships between the nonlinear friction torque and the angle acceleration of a gimbal motor and the friction torque and the current of the gimbal motor are deduced according to the mathematical model of gimbal servo-system., Then, based on the angle posi-tion measured by encoders, the angle velocities of the motor and loader sides are calculated and an an gle acceleration estimator is designed to estimate the angle accelerations of the motor and loader sides. Furthermore, the nonlinear friction torque is calculated and modeled as the Coulomb, viscous and Stribeck friction model. Finally, a feedforward compensation controller based on the model is designed to restrain the nonlinear friction and to improve the control precision. Experimental results indicate
收稿日期：2010-06-25；修订日期：2010-08-06.
基金项目：国家自然科学基金重点资助项目（No,60736025)；国家杰出青年科学基金资助项目（No,60825305）