基于观测器摩擦补偿的机电系统高精度控制

李曦,胡健,姚建勇,魏科鹏,王鹏飞,邢浩晨

High precision control of electromechanical system based on observer friction compensation

Xi LI,Jian HU,Jian-yong YAO,Ke-peng WEI,Peng-fei WANG,Hao-chen XING

表 1 阶跃工况下的性能指标

Tab.1 Performance indicators under step conditions

指标 Me μ σ PID 0.0031 0.0034 0.0071 ARC 0.0025 0.0016 5.2158×10−4 NOARC 6.0003×10−4 2.4833×10−4 5.1198×10−4