The Optimization Control of Model-Based Friction Compensation and Experimental Test for the Laser Communication System

Axis friction of the communication terminal mechanical system can influence the accuracy of the terminal motion control system. Friction can cause the steady state error and making the system response slow. Communication terminal will benefit from the friction compensation in the servo system. The performance of the servo system using the LuGre friction model for compensation is better than the same system without friction compensation. The high performance requirements for the terminal control system can be achieved. This paper describes the nonlinear friction mathematical model, the estimation of the model parameters and reports and analyzes the conclusions of the model-based friction compensation experiment. For an actual terminal motor drive system, the nonlinear friction characteristics of the terminal control system based on the friction compensation is presented. The effectiveness of this control technique is discussed and investigated.