双倒立摆的摩擦补偿

Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204) Pub Date : 2001-09-05 DOI:10.1109/CCA.2001.973985

Lei Fang, W. J. Chen, S. U. Cheang

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引用次数: 13

摘要

倒立摆系统具有不可忽略的非线性特性，其动力结构和摩擦力会产生较大的极限环。利用库仑和黏性摩擦非线性模拟模型对极限环进行了较好的预测。为了补偿车轨间摩擦，实现了一种基于修正一阶Dahl模型的摩擦补偿器。实验结果表明，摩擦补偿大大降低了极限环的幅值。特别是，摩擦补偿器在没有精确速度信号的情况下工作得很好。因此，该研究将对各种不需要额外速度传感器的摩擦补偿系统具有价值。

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Friction compensation for a double inverted pendulum

The inverted pendulum system exhibits nonnegligible nonlinearities due to its dynamic structure and friction forces, which cause large limit cycles. The limit cycles are well predicted by the nonlinear simulation model with Coulomb and viscous friction. To compensate the cart-on-rail friction, a friction compensator based on modified first-order Dahl model is implemented. The experiment results show that the amplitudes of the limit cycles are substantially reduced by friction compensation. In particular, the friction compensator works quite well without accurate velocity signals. The study will thus be of value to a variety of systems for compensating friction without extra velocity sensors.

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Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)

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