Adaptive LuGre Friction Compensation for Servo System Based on Backstepping Control and Feedforward Control

摘要

Aims: The study aims to improve the position control accuracy of a class of permanent magnet synchronous motors under friction. Background: Permanent magnet synchronous motor and servo system are important parts of modern industry, in which the friction effect is a typical nonlinear factor. To overcome the nonlinear friction effect, it is necessary to design a compound feedforward algorithm to improve the motion control accuracy. Objective: The objective of the study is to design a compound adaptive friction feedforward controller to overcome the nonlinear friction effect in the servo system while ensuring tracking accuracy. Methods: A compound algorithm combining velocity-acceleration double feedforward and adaptive friction feedforward is proposed to ensure the control accuracy, and then the backstepping control is used to ensure strict convergence. Finally, the friction parameter observer is used to estimate the parameters, and the performance of the control system is simulated in the Simulink module. Results: Compared to Pure Friction Feedforward Compensation (PFFC) and Adaptive Friction Compensation (AFC), Adaptive Backstepping Feedforward Friction Compensation (ABFFC) has a faster convergence speed, higher steady-state accuracy, and less friction nonlinear effect. Conclusion: The servo system with adaptive backstepping and feedforward friction compensation improves the accuracy and convergence of control performance. Moreover, the adaptive permanent magnet synchronous motor control system can effectively overcome the nonlinear friction effect.