Improved PID friction feed-forward compensation control based on segment friction model

Abstract

An improved PID friction feed-forward compensation control based on segment friction model is presented for nonlinear friction perturbation problems of high precision optoelectronic tracking stable platform systems. From the view of engineering application, the friction characteristics of stable platform servo systems are considered, a simple and reasonable segment friction model is established, and a practical model for parameter identification is given. According to this model, improved PID friction feed-forward compensation control is designed. Through the feed-forward compensation, friction disturbance effect on system stability is reduced, and low-speed performance of the system is improved. By introducing the improved PID control, both integral saturation and peak jitter of system speed output are eliminated, and system control performance is improved. Finally, through the analysis and comparison of practical stable platform experiments, the rationality and effectiveness of the design method is proved.