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Matlab simulation of friction compensation of servo system based on disturbance observer
1. Introduction to the model
The model is a friction compensation simulation based on disturbance observer. The simulation is developed based on the dual closed-loop control structure of permanent magnet synchronous motor speed and current. Both loops use PI control, and the PI parameters have been adjusted. The simulation mainly includes anti-saturation PI controller, friction model, disturbance observer, coordinate transformation, SVPWM, inverter and permanent magnet synchronous motor module, etc. Among them, the anti-saturation PI controller, friction model, disturbance observer, coordinate transformation, and SVPWM module are all implemented by matlab function programming, which is similar to C language programming and easy to transplant in kind. The model uses discrete simulation, and its effect is closer to the actual digital control system.
2. Introduction to the algorithm
In the servo system, due to the existence of friction, the system response will be reduced, so it is necessary to compensate for friction. This simulation simulates the impact of friction on system performance by adding the LuGre friction model. The friction is observed and compensated by the disturbance observer to reduce the impact of friction on system performance.
3. Simulation effect
① Add friction, set the speed as a sine wave, and simulate the situation where the speed repeatedly passes through zero. Due to the existence of friction, the actual speed cannot track the speed setting signal well when it passes through zero. As shown in Figure 1, the disturbance observer was not used before 0.6s, and the speed tracking error was large when the speed passed through zero. After 0.6s, the disturbance observer was turned on, and the speed tracking error was significantly reduced.
② Figure 2 is the current loop response waveform, which shows that the current loop tracking is very good.
③ Figure 3 is the friction torque waveform output by the LuGre friction model and the disturbance torque observation waveform output by the disturbance observer. Among them, the disturbance observer was turned on after 0.6s. It can be seen that the observed disturbance torque and friction torque basically coincide.
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