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Friction compensation method is investigated to cope with the widely existing friction torque in servo systems. For a flight simulation turntable system, mathematical model of the turntable system is constructed without friction modeling. The friction torque is viewed as the system uncertainty. High-gain observer is used to estimate the angular rate signal for feedback, and the observer is extended to estimate the friction torque in real-time for friction compensation of angular rate loop. For the extended observer, the convergence of the observer error is proved, and tracking performance of the angular rate loop is analyzed. At last, numerical simulation is conducted, and the simulation results show the effectiveness of the method.
Control Conference (CCC), 2010 29th Chinese
Date of Conference: 29-31 July 2010