• Infrared and Laser Engineering
  • Vol. 52, Issue 11, 20230151 (2023)
Yunzhe Liu1, Yan Dong1, Wei Wang2, and Jianlin Song3
Author Affiliations
  • 1School of Electronic Information Engineering, Changchun University of Science and Technology, Changchun 130022, China
  • 2School of Optoelectronic Engineering, Changchun University of Science and Technology, Changchun 130022, China
  • 3Jilin Henghui Optoelectronic Technology Co., Ltd, Changchun 130022, China
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    DOI: 10.3788/IRLA20230151 Cite this Article
    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 Copy Citation Text show less
    Structure diagram of turntable system
    Fig. 1. Structure diagram of turntable system
    Motor model diagram
    Fig. 2. Motor model diagram
    Motor dynamics model diagram
    Fig. 3. Motor dynamics model diagram
    Equivalent diagram of friction model
    Fig. 4. Equivalent diagram of friction model
    Diagram of DSADRC
    Fig. 5. Diagram of DSADRC
    Experimental equipment diagram
    Fig. 6. Experimental equipment diagram
    (a) Speed-torque measurement data diagram; (b) Comparison diagram of experimental data and parameter identification
    Fig. 7. (a) Speed-torque measurement data diagram; (b) Comparison diagram of experimental data and parameter identification
    Speed error comparison diagram
    Fig. 8. Speed error comparison diagram
    Error diagram before and after time zero of speed
    Fig. 9. Error diagram before and after time zero of speed
    ParameterValue
    L/H 0.0053
    R1.46
    J/kg·m25
    Ki/N·m·A−13.21
    Ke/V·r·min−10.45
    Table 1. Motor parameter
    Rotate speed/r·min−1
    0.010.020.05
    0.10.30.5
    11.52
    2.533.5
    44.55
    678
    91015
    202530
    354045
    506070
    8090100
    125150175
    200225250
    Table 2. Speed sequence table
    Mc/N·m Ms/N·m ωs/r·min−1b/N·m·r−1·min−2
    2.45962.96450.1270.0032
    Table 3. Identified parameter table
    Control methodMaximum speed error on one side/ μrad·s−1
    PID75.7817
    ADRC40.9561
    DSADRC16.8814
    Table 4. Table of maximum speed error on one side
    Control methodMaximum speed error affected by friction torque/μrad·s−1
    PID6.9096
    ADRC4.6302
    DSADRC1.8249
    Table 5. Table of maximum speed error affected by friction torque
    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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