激光技术2024，Vol.48Issue(4)：455-462,8.DOI:10.7510/jgjs.issn.1001-3806.2024.04.001
光电跟踪系统非均匀受力摩擦补偿研究
Research on friction compensation of non-uniform force in photoelectric tracking system
吕南方 1夏运霞 1张兵 1包启亮 1夏华阳 1马荣崎 1蒋晶1
作者信息
- 1. 中国科学院光场调控科学技术全国重点实验室,成都 610209,中国||中国科学院光束控制重点实验室,成都 610209,中国||中国科学院光电技术研究所,成都 610209,中国||中国科学院大学,北京 100049,中国
- 折叠
摘要
Abstract
To mitigate the issue of friction disturbance in the photoelectric tracking system and to improve the stability and precision of the line of sight,a compensation technique known as LuGre-TSMO was employed.The LuGre model was combined with a terminal sliding mode observer(TSMO)in this approach.Specifically,a terminal sliding mode observer was devised based on a novel reaching rate,utilizing the LuGre model as a basis.This design enables the system to achieve secondary compensation for friction.In comparison to the scenario without compensation,the root mean square error of speed tracking was reduced by an average of 65.38％.Consequently,the accuracy of visual axis stability on the experimental platform was effectively enhanced.The simulation and experimental outcomes demonstrate that the LuGre-TSMO method exhibits the most effective friction compensation effect when compared to the LuGre model method and the terminal sliding mode observer method.Furthermore,it is demonstrated to be both feasible and effective in the context of the photoelectric tracking system.关键词
激光技术/光电跟踪系统/摩擦补偿/LuGre摩擦模型/终端滑模观测器Key words
laser technique/electro-optical tracking system/friction compensation/LuGre friction model/terminal sliding mode observer分类
计算机与自动化引用本文复制引用
吕南方,夏运霞,张兵,包启亮,夏华阳,马荣崎,蒋晶..光电跟踪系统非均匀受力摩擦补偿研究[J].激光技术,2024,48(4):455-462,8.
