Advanced research product both here and abroad in this field is absorbed. The virtue and shortage of traditional compensation method in dry friction is summarized. Then a new damper of magneto-rheological fluid is designed. The new damper is very suitable for control. But thinking of its nonlinear model and disturbance in the dry friction model, the paper adopt intelligent control, by the feedback of speed, a RBF neural network is trained to control input current of damper of magneto-rheological. Ultimately the damper can compensate the negative stiffness of dry friction.
吸收了国内外在该领域的先进研究成果，总结了传统摩擦补偿方法的优点及不足，设计了一种新型磁流变阻尼器作为汽轮发电机电液伺服系统补偿阻尼，考虑到其模型的非线性，以及干摩擦模型存在扰动，采用智能控制的办法，设计一个RBF神经网络来控制磁流变阻尼器的输入电流，最终达到补偿系统干摩擦负刚度的目的。
The dynamic friction and force ripples are the most important factors affecting the positioning accuracy of gun servo system s; therefore, real-time compensation with a continuous control law is used to account for these effects.
针对高精度火炮交流伺服系统中存在的非线性动态摩擦和电机力矩波动，为了提高火炮伺服系统的跟踪精度，提出了一种新的基于LuGre摩擦力矩模型的自适应补偿算法。
In order to solve the problem in static performence of the system caused by Coulomb friction, the nonlinear compensation algorithm is proposed.
对两种不同的系统配置进行了研究，讨论了不同的控制算法和系统特性，并对于摩擦非线性所引起的零速滞环问题，提出了行之有效的非线性补偿算法，解决了这类问题。第六章研究了定压网络油马达扭矩控制系统。
Rubber ring as a result of friction, and can also increase the compensation loop in the non-normal operation of the buffer to protect the friction face.
由于橡胶密封圈的摩擦力大，也可以增大补偿环在非正常操作时的缓冲作用，保护摩擦端面。
Experimental results show that the gross steady errors are caused by frictions when the system is controlled by the conventional proportional control algorithm. Although the errors can be reduced by introducing the integral control, the limit cycle oscillation and the long setting time are caused. The positioning error for a constant load torque can be eliminated by using fixed friction compensation, but poor positioning accuracy is caused by the same fixed friction compensation when the load torques varies greatly. The dynamic friction compensation based on the error and change-in-error measurements can significantly improve the position precision in a broad range of the changes of load torque.
实验结果表明，常规比例控制由于受摩擦的影响产生较大的稳态误差，而积分控制的引入可减小稳态误差，但却引起系统产生极限环振荡和较长的调节时间；简单的定摩擦补偿在恒定的负载扭矩下可以有效地减小稳态误差，但是当负载扭矩大范围变化时，稳态定位精度将大大降低；基于误差和误差变化的动态摩擦补偿，在负载扭矩大范围变化的条件下均获得了高精度的定位控制。
The deadband mechanism of the pneumatic proportional valve and its adverse effects on the system control performance are analyzed. A new compensation method for reducing the friction of the valve is presented.
针对气动比例阀的死区产生机理及对系统控制性能造成的不良影响，提出了1种新的对比例阀的死区进行补偿方法。
An adaptive friction compensation scheme for direct drive valve was proposed based on LuGre model.
针对直接驱动阀阀芯摩擦力，论述了基于模型的摩擦力自适应补偿。
Controller design and simulation for friction moment compensation on high-precision turntable［J］.
高精度转台摩擦力矩补偿控制器设计与仿真［J］。
Controller design and simulation for friction moment compensation on highprecision turntable［J］.
高精度转台摩擦力矩补偿控制器设计与仿真［J］。
Otherwise, the effect due to inexact friction compensation is analyzed with analysis of describing function.
另外，利用描述函数方法对不精确摩擦补偿的影响进行了分析。
On this basis, the friction compensation methods based on speed inner-loop control and acceleration feedback control are designed concretely and analyzed by simulation and experimentation.
在此基础上，对基于速度内环控制和加速度反馈控制的摩擦补偿方法进行具体的设计，并通过仿真和实验进行分析研究。
First, the noise immunity performance is analyzed in detail combined with turntable servo control system and the principle of two friction compensation methods based on speed inner-loop control and based on acceleration feedback control are expounded.
首先，结合稳速转台伺服控制系统详细分析了基于多回路控制补偿的抗扰性能，阐述了基于速度内环控制和基于加速度反馈控制这两种摩擦补偿方法抑制扰动的基本原理。
Analysis and Compensation for the Friction in Digital Self-adaptation Control Electro-Hydraulic Fatigue Testing Machine
数字式自适应动态电液疲劳试验机的摩擦力分析及补偿研究
Friction compensation for angular vibrating table based on fourier neural network
基于傅立叶神经网络的角振动台摩擦补偿
The positioning error for a constant load torque can be eliminated by using fixed friction compensation, but poor positioning accuracy is caused by the same fixed friction compensation when the load torque s varies greatly.
简单的定摩擦补偿在恒定的负载扭矩下可以有效地减小稳态误差，但是当负载扭矩大范围变化时，稳态定位精度将大大降低；
The Desing and Investigation of Hydraulic Brake with Multiple Friction Disc and Compensation Device
多片摩擦片式液压制动器及其间隙补偿装置
The simulation results indicate this new friction model has good compensation effects and can compensate friction force dynamically. This method provides an efficient way to design high precision, low speed electro-hydraulic servo system.
仿真结果表明该新型摩擦模型和补偿技术具有良好的补偿效果，能够动态、适时的补偿摩擦力，为设计高精度、超低速电液伺服系统提供了有效的途径。
The dynamic friction compensation based on the error and change in error measurements can significantly improve the position precision in a broad range of the changes of load torque.
基于误差和误差变化的动态摩擦补偿，在负载扭矩大范围变化的条件下均获得了高精度的定位控制。
A robust nonlinear control design is presented. By introducing the nonlinear gain and friction compensation term, the robust global convergence of the tracking error is proved using Lyapunov's direct method. S_n ∈ L_1, then S_n converges almost surely.
对含非线性摩擦环节的机械伺服系统，提出一种基于Lyapunov方法的鲁棒非线性控制方法，通过引入非线性增益和摩擦补偿项，来克服参数不确定性和补偿非线性摩擦，从而保证跟踪误差渐进收敛。
A dynamic friction compensation method is proposed to compensate the system friction force.
最后，论文对摩擦力动态补偿方法进行了试验研究。