Abstract:Aiming at the problem of friction nonlinearity in the missile ball-socket nozzle electric servo system, a friction integral adaptive compensation control strategy based on an improved steady-state Lugre friction model is proposed. The kinematics equation of the ball and socket nozzle electric servo system based on the Lugre friction model is established, and the simplified state equation of the servo system is completed by combining the modified steady-state Lugre friction model. A backstepping design method is used to design a nonlinear controller with friction integral compensation. At the same time, a friction parameter adaptive law is introduced to improve the compensation accuracy, and a Lyapunov function is designed to ensure the global asymptotic stability of the system. A kind of parameter identification of the steady state Lugre friction model based on the genetic algorithm is carried out, and a simulation model of the electric servo system containing the friction model is established to verify the effectiveness of the algorithm. The simulation test results show that, compared with traditional PID control, the friction integral adaptive compensation control can better suppress wave shape distortion and improve the tracking performance of the electric servo system at low speed.