| 摘要 |
The invention relates to a system and a method of compensation of dry friction for a mechanical system with a movable mass or inertia controlled by a control signal U and according to the prescriptions of a setpoint signal, the motion of the mass or inertia being characterized by a motion signal. On the one hand, there is defined an ideal model of the closed loop receiving as input the setpoint signal Yr and producing as output an ideal motion signal Ym relating to the motion of the mass or inertia according to the ideal model of the system, on the other hand, there is defined a law of control of compensation of dry friction producing the control signal U and which receives as input the setpoint signal Yr and makes it possible to produce a motion feedback signal Y relating to the real motion of the mass or inertia, the dry friction compensation control law based on the model of Philippe de Larminat being rendered adaptive as a function of a parameter of value of the dry friction S, and the ideal motion signal Ym and the motion measurement signal Y are intercompared to produce an error signal ε( ), and the value of the dry friction S is estimated in an estimator receiving as input the error signal ε( ) and producing as output the estimation S of value of the dry friction, and said estimation S is dispatched as parameter of value of the dry friction in the dry friction compensation control law so as to correct the control signal. |
