Adaptive Low Velocity Friction Compensation for Opto-Electronic Platform

Aimed at the influence of nonlinear friction on the opto-electronic platform servo system,the friction compensation method based on Coulomb friction model and Stribeck friction model were discussed and designed using adaptive theory and Lyarpnov's stable theory.Simulation is carried out to verify the compensation effect of adaptive control method and traditional PID method.Simulation results show that friction compensation algorithm based on Stribeck friction model is more superior,and the tracking precision of the servo system is improved,especially a big improvement in the low speed performance.