Research on Control Strategy of Friction Servo System

摘要

The method of friction modeling and control for servo system is studied. Firstly, according to the friction effect in reality and previous research, we choose the corresponding friction model, and establish the mathematical model of the servo system. According to the actual situation and characteristics of the system, the system is reduced to a lower order, to simplify the process, to facilitate the description of the problem; secondly according to adaptive control, back-stepping calculate the system control law and according to the design of the Lyapunov function proved the stability of the system. The simulation results verify the effectiveness and robustness of the method.