An Adaptive Compensation Method of LuGre Model-based Friction for Electromechanical Actuator Servo System

To reduce the adverse influence of friction disturbance on electromechanical actuator (EA) servo system, in this paper, an adaptive friction compensation method is proposed to estimate and compensate LuGre model-based friction disturbance in EA servo system. The proposed adaptive friction compensation controller consists of four modules: a PD module, a feedforward module, a speed feedback module and an adaptive friction torque estimation module. The stability of the closed-loop system under the proposed adaptive friction compensation method is guaranteed through Lyapunov stability theorem. From simulation and experiment, it can be seen that the proposed method can effectively enhance dynamic performance of EA servo system.