简介：

简介：Differentfromconventionalmechanicalsystemswithsingledegreeoffreedom(DOF),themainideaofthesystemofhybrid-drivenprecisionpressistocombinethemotionofaconstantspeedmotorwithaservomotorviaatwo-DOFmechanismtoprovideflexibleoutput.Inordertomakethefeasibilityclear,thispaperstudiestheoreticallythedynamiccharacteristicsofthishybrid-drivenmechanicalsystem.Firstly,thedynamicsmodelofthewholeelectromechanicalsystemissetupbycombiningdynamicequationsofDCmotorswiththoseoftwo-DOFnine-barmechanismdeducedbytheLagrange′sformula.SecondlythroughthenumericalsolutionwiththefourthRunge-Kutta,computersimulationaboutthedynamicsisdone,whichshowsthatthedesignedandoptimizedhybrid-drivenprecisionpressisfeasibleintheory.Theseprovidetheoreticalbasisforlaterexperimentalresearch.

简介：Inthispaper,ahybridadaptivecompensationcontrolschemeisproposedtocompensatethefrictionoccurrenceandothernonlineardisturbancefactorsthatexistinthehigh-precisionservosystem.Anadaptivecompensationcontrollerwithadual-observerstructureisdesigned,whiletheLuGredynamicfrictionmodelwithnon-uniformparametricuncertaintiescharacterizesthefrictiontorque.Consideringtheinfluenceoftheperiodicdisturbancetorqueandparametricuncertainties,fuzzysystemsandarobusttermareemployed.Inthisway,thewholesystemcanbetreatedasasimplelinearmodelafterbeingcompensated,thentheproportional-derivative(PD)controllawisappliedtoenhancingthecontrolperformance.OnthebasisofLyapunovstabilitytheory,theglobalstabilityandtheasymptoticconvergenceofthetrackingerrorareproved.Numericalsimulationsdemonstratethattheproposedschemehaspotentialstorestraintheimpactofdisturbanceandimprovingthetrackingperfor