Adaptive compensation for friction and force ripple in ship-borne gun servo system

Dynamic friction and force ripple are the most important factors that affect the positioning accuracy of ship-borne gun servo system, and it is desirable to compensate them in finite time with a continuous control law. In this paper, based on LuGre dynamic friction model, a dual-observer is used to observe the unknown state of friction model, then a dynamic compensation approach employing adaptive law is designed to compensate the nonlinear effect of friction and force ripple in gun servo system. Experimental results well verify the feasibility and the effectiveness of the proposed scheme for high-precision motion trajectory tracking.