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中文摘要：
摩擦影响定位和指向系统的精度,还可能引起不稳定。伺服设计中用的摩擦模型大都用的是Dahl模型。这是一个简单的只有一个状态变量的动态模型。不过用Dahl模型给不出滞-滑运动。文中分析指出Dahl模型实际上是早年模拟机上摩擦模型的一个解析版本,而Dahl模型中的状态方程式所表示的就是模拟线路中的积分钳位线路。基于这种新的认识,文中提出一种改进的Dahl模型,该模型改善了回路的稳定性,并可给出不同于库仑摩擦值的静摩擦。对一个典型的滞-滑运动的分析表明,用改进的Dahl模型所得的结果与理论分析也是一致的。此改进的Dahl模型在高精度伺服设计中将会有广阔的应用前景。
英文摘要：
Friction limits the precision of positioning and pointing systems and can give rise to instability.The Dahl model is a simple dynamic model with one state and is widely used in servo design.But the Dahl model cannot predict the stick-slip motion.It analyzed and pointed out that the Dahl model is an analytical version of the early friction model used in the analog computer,and the state equation of the Dahl model represents an integrator with clamping function in the analog circuit.Based on this understanding of the Dahl model,a modified Dahl model was proposed.It can improve the stability of the friction loop and can offer a static friction differing from the Coulomb friction.A typical stick-slip example was studied with the modified Dahl model and the results coincide with the theoretical ones.The proposed modified Dahl model would have a wide range of applications in the high precision servo design.
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