Infrared and Laser Engineering, Volume. 52, Issue 11, 20230151(2023)
Friction model identification and compensation strategy for photoelectric tracking system
Figures & Tables(14)
Fig. 7. (a) Speed-torque measurement data diagram; (b) Comparison diagram of experimental data and parameter identification
Table 1. Motor parameter
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Parameter Value L/H 0.0053 R/Ω 1.46 J/kg·m2 5 Ki/N·m·A−1 3.21 Ke/V·r·min−1 0.45
Table 2. Speed sequence table
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Rotate speed/r·min−1 0.01 0.02 0.05 0.1 0.3 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 6 7 8 9 10 15 20 25 30 35 40 45 50 60 70 80 90 100 125 150 175 200 225 250
Table 3. Identified parameter table
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Mc/N·m Ms/N·m ωs/r·min−1 b/N·m·r−1·min−2 2.4596 2.9645 0.127 0.0032
Table 4. Table of maximum speed error on one side
View tableView in ArticleTable 4. Table of maximum speed error on one side
Control method Maximum speed error on one side/ μrad·s−1 PID 75.7817 ADRC 40.9561 DSADRC 16.8814
Table 5. Table of maximum speed error affected by friction torque
View tableView in ArticleTable 5. Table of maximum speed error affected by friction torque
Control method Maximum speed error affected by friction torque/μrad·s−1 PID 6.9096 ADRC 4.6302 DSADRC 1.8249
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Yunzhe Liu, Yan Dong, Wei Wang, Jianlin Song. Friction model identification and compensation strategy for photoelectric tracking system[J]. Infrared and Laser Engineering, 2023, 52(11): 20230151
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Received: Mar. 20, 2023
Accepted: Oct. 16, 2023
Published Online: Jan. 8, 2024
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