中文摘要：

为有效抑制摩擦扰动对光电平台性能的影响,针对环架轴系间的摩擦由LuGre模型描述的情况,设计自适应摩擦补偿控制器。提出一种采用具有时变增益摩擦状态观测器的摩擦补偿方法,通过类李雅普诺夫分析证明整个闭环系统跟踪误差的渐近收敛性。仿真结果表明,通过对时变增益函数中设计参数的适当选择,相比采用具有常数增益的观测器,系统的角速度跟踪误差进入0.03 rad/s误差带的时间由62 s提升至44.5 s,稳态误差峰峰值由0.041 3 rad/s提升至0.032 5 rad/s。系统获得了响应速度和响应精确度的同时提升。

英文摘要：

To reject the friction disturbance of the Electro-Optical platform system,suppose that friction torque between the gimbals is described by LuGre model,an adaptive friction compensator is designed.Friction compensation using friction state observers with time-varying gain is put forward.And asymptotic convergence of the tracking error of closed loop system is proved through Lyapunov-like analysis.Simulation results show that,with the design parameters in the time-varying gain function tuned properly,the response time in which the angular velocity tracking error reach the error band of 0.03 rad/s is 44.5 second,and the peak to peak value of steady state error is 0.032 5 rad/s.Comparing with the system using observers with const gain,of which the response time is 62 second and the peak to peak value of steady state error is 0.041 3 rad/s,the response speed is faster and the response accuracy is higher simultaneously.