An Active Disturbance Rejection Friction Compensation in Permanent Magnet Synchronous Motor Servo System
Due to nonlinearity and uncertainty,dynamic friction is a predominant factor that deteriorates tracking performance of PMSM servo system in low velocity,and it is desirable to be compensated in finite time with a continuous control law.In this paper,based on LuGre dynamic friction model,a nonlinear controller based on active disturbance rejection control is presented to compensate the nonlinear effect of friction.The friction is regarded as the disturbance and estimated by extended state observer whose parameters are regulated by LuGre friction model.Simulation results well verify the feasibility and the effectiveness of the proposed scheme for high-precision motion trajectory tracking.
ZHANG Wenjing LI Pengyu XU Hongze
School of Electronic and Information Engineering,Beijing Jiaotong University,Beijing 100044,P.R.Chin Marine Engineering College,Dalian Maritime University,Dalian 116026,P.R.China
国际会议
The 30th Chinese Control Conference(第三十届中国控制会议)
烟台
英文
1-5
2011-07-01（万方平台首次上网日期，不代表论文的发表时间）