Control Strategy with Adaptive Friction Torque Compensation for Radar Servo System

doi:10.3901/JME.2019.18.187

Abstract

Abstract: Under the influence of external disturbances, time-varying friction disturbance make radar servo system easily work in the creep behavior or even stop when low-speed tracking, image and locating targets, which seriously affects the system tracking or imaging accuracy. Based on the mathematical model of radar servo system, the influence of friction on the system tracking accuracy is analyzed using the experimental data. In the light of changeable conditions of the servo system, introducing temperature and disturbance influence factors,a control strategy with adaptive friction torque compensation is proposed. For the controller, the LuGre model is improved and its parameters are identified. In addition, according to Lyapunov theory, the control parameters value corresponding to steady conditions are obtained. While meeting the radar servo system accuracy, the proposed controller has obvious compensation for the time-varying friction torque, showed by the simulation and experimental result, which means it can reduce the low-speed creep accident and the influence of friction torque on the radar servo system.

Key words: radar servo system, friction torque, adaptive control, steady analysis

CLC Number:

TM351

JIANG Renhua, LIU Chuang, NING Yinhang. Control Strategy with Adaptive Friction Torque Compensation for Radar Servo System[J]. Journal of Mechanical Engineering, 2019, 55(18): 187-195.

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