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针对摩擦直接影响飞行仿真转台跟踪和定位精度 ,还可能引起转轴的低速爬行 ,以某型飞行仿真转台的一轴为对象设计了基于摩擦自适应补偿的变结构控制器 ,在分析了摩擦模型及其对系统特性影响的基础上 ,通过摩擦补偿削弱了由于摩擦造成的系统滞滑现象 .通过变结构控制器设计克服了不精确摩擦补偿的缺点 ,在不需要精确的摩擦模型条件下保证了系统的鲁棒性能 .通过实验表明该方法的控制效果比常规PID大大提高 ,因此是一种较为实用和有效的设计方法 .
Aiming at the problem that the friction directly affects the tracking and positioning accuracy of the flight simulation turntable, it may also cause the low-speed creeping of the rotating shaft. A variable structure controller based on friction adaptive compensation is designed for a shaft of a flight simulation turntable. After analyzing the friction model and Based on its influence on the system characteristics, the frictional compensation system can reduce the system slippage, which overcomes the shortcomings of inaccurate friction compensation through the design of variable structure controller, and guarantees the system without the need of accurate friction model The experimental results show that the proposed method is more effective than the conventional PID in control performance and is therefore a practical and effective design method.