Friction Compensation Based on CMAC for Gimbal Servo System Used in CMG
Haitao Li, Jiancheng Fang · Jisuanji fangzhen · 2008
In order to eliminate the friction made by the MSCMG framework servo system,the gyro architecture was analyzed through dynamics methods first.The relation among output moment of gyro followed by friction moment,the position of framework angle and the angle speed was analyzed.A nonlinear friction moment model of MSCMG framework system was established.Aiming at the model established above,the friction compensation method based on CMAC neural network was adopted.A simulation model was established according to the actual parameter of MSCMG system.The result of simulation proves that the efficacy of friction compensation based on CMAC neural network.