Sliding Mode Control Method Of Photoelectric Turntable Based On Lugre Friction Model

Nonlinear friction is one of the main factors affecting the performance of the photoelectric turntable. In this paper, a sliding mode controller based on LuGre friction model is proposed in the servo system of photoelectric turntable. Firstly, the friction model is established and the parameters of the model are identified by genetic algorithm. Secondly, the model-based nonlinear disturbance observer is constructed to estimate the friction and other disturbances. Finally, a sliding mode controller is designed to ensure the tracking error and accuracy of the system. The simulation results show that this method is able to reduce the tracking error and improve the tracking performance of the system.