| 1. | Nonlinear friction compensation based on neural networks for the positioning table
定位平台非线性摩擦的神经网络补偿 |
| 2. | Robust nonlinear friction compensation of mechanical servo system with time variable parameters
参数不确定机械伺服系统的鲁棒非线性摩擦补偿控制 |
| 3. | Finally , the friction model is applied after analyzing the mechanical structure of tracking system . the friction compensation had been obtained by differential feedforward applied to the output of position controller
最后建立了低速跟踪情况下的摩擦模型,并用微分前馈的方法实现摩擦补偿,消除摩擦对跟踪精度的影响,提高了跟踪精度。 |
| 4. | According to the elaborate analysis on friction at home and abroad , a dynamic friction compensation method is proposed to compensate the system ’ s friction force at low velocity . a dynamic friction model is build and a friction observer is designed for ordinary position servo system
在对国内外研究现状进行深入分析的基础上，提出了系统低速运行时摩擦力的动态补偿方法，并针对常见的电液位置伺服系统建立摩擦模型、设计摩擦观测器。 |
| 5. | Based on well knowing the friction mechanism , this paper absorbs advanced research results in this field , summarizes the strongpoint and insufficiency of traditional friction compensation methods , and proposes a dynamic friction compensation method according to a new friction model ( lugre friction model )
本文在对摩擦机理深入了解的基础上，吸收了国内外在该领域的先进研究成果，总结了传统摩擦补偿方法的优点及不足，提出了基于新型摩擦模型(即lugre摩擦模型)的动态补偿方法。 |
| 6. | As for single axis , pewin , the software given by the programmable multi - axis controller ( pmac ) , is used to find the best parameters of the pid controller and feedforward compensation controller . then , the nonlinear friction in the system is compensated by the friction compensation controller with genetic algorithm ( ga ) . the compensation controller can improve the system performance effectively
对于单轴系统首先利用美国deltatau公司的可编程多轴控制器pmac自带的控制软件pewin进行pid参数的整定以及前馈补偿环节的参数整定，然后分析系统存在的非线性摩擦力，利用遗传算法寻优摩擦力补偿环节的参数，达到补偿摩擦力的效果，有效地提高了系统的控制性能。 |
| 7. | Secondly , this paper emphasizes how to apply this new friction model to practical valve controlled cylinder position servo system and realize the dynamic friction compensation . the paper designs the compensation law and uses the matlab / simulink tools to testify the compensation effect
其次，本文重点放在如何将新型摩擦模型应用到实际的电液位置伺服系统中，以实现对阀控液压缸电液位置伺服系统的摩擦力进行动态补偿，并应用matlab的simulink仿真工具进行仿真，通过调节摩擦补偿环节的参数可得到良好的补偿效果。 |
