直流伺服系统摩擦力及死区补偿的鲁棒自适应控制器

直流伺服系统的死区和摩擦力参数往往是不可知的，而且速度估计也存在误差，如果不能较好地处理这些因素将会严重影响系统的性能。针对这些问题，提出了一种鲁棒自适应控制方法，并运用Lyapunov稳定性原理证明了其稳定性；提出了使用差分器来估计速度值的方法，以减少实际系统中因速度估计误差引起的控制性能的降低。仿真结果表明：该控制方法在提高系统速度估计精度、改善摩擦力和死区补偿效果等方面具有很好的效果，为直流伺服的系统设计提供了一种较好的方法。

Robust Adaptive Control Design for DC Servo System with Friction and Dead-Zone Compensation

Both the dead-zone and friction are often unknown in DC servo systems. Besides, the error caused by speed measurement often exists. All of these above factors may severely affect the system''s performance. Hence, this paper presents a robust adaptive controller to cope with these problems. The proposed algorithm is rigorously proved by using Lyapunov theory. Another feature in this paper is that a kind of differentiator is utilized to estimate the speed such that the error caused by speed measurement can be reduced. The simulation results show that the proposed method can improve system''s speed estimation, and it is effective for promoting the efficacy of friction and dead zone compensation.