Yunzhe Liu, Yan Dong, Wei Wang, Jianlin Song. Friction model identification and compensation strategy for photoelectric tracking system[J]. Infrared and Laser Engineering, 2023, 52(11): 20230151

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- Infrared and Laser Engineering
- Vol. 52, Issue 11, 20230151 (2023)

Fig. 1. Structure diagram of turntable system

Fig. 2. Motor model diagram

Fig. 3. Motor dynamics model diagram

Fig. 4. Equivalent diagram of friction model

Fig. 5. Diagram of DSADRC

Fig. 6. Experimental equipment diagram

Fig. 7. (a) Speed-torque measurement data diagram; (b) Comparison diagram of experimental data and parameter identification

Fig. 8. Speed error comparison diagram

Fig. 9. Error diagram before and after time zero of speed
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Table 1. Motor parameter
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Table 2. Speed sequence table
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Table 3. Identified parameter table
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Table 4. Table of maximum speed error on one side
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Table 5. Table of maximum speed error affected by friction torque

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