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 2 低速低频工况下的性能指标

Tab.2 Performance indicators under low speed and low frequency conditions

指标 M μ σ PID 0.153 6 8.868 6×10−3 0.077 2 ARC 0.043 8 8.618 1×10−4 0.025 6 NOARC 0.010 1 1.638 5×10−4 0.006 9