关键词: 自抗扰控制;位置伺服;Stribeck摩擦模型

Abstract:

The phenomenon of nonlinear friction, disturbance and perturbation of the system, will have bad influence on precision.The control method forthe positionservo system with low speed was studied. First the ADRC (active disturbance rejection control) was introduced. The control system was developed based on the Stribeckfriction model and ADRC, and the means for adjusting the parameters of the controller were given in succession. Some simulation results were given compared with the PDcontrol and Sliding model control. These results show that the controller ensures good dynamic and static characteristics, and very good robustness under inner perturbation and external disturbance with nonlinear friction considered

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Key words: active disturbance rejection control(ADRC); position servo system; Stribeck friction model