Multiobjective optimization of high type control system with LuGre friction compensation in optical-electric tracking system

This paper investigates high type control system with the LuGre friction compensation in Optical-electric Tracking System. Firstly, it introduces the basic principles and application scenarios of the high type control and LuGre friction model and analyzes its advantages and shortcomings in high-performance motion control systems. Afterwards, this paper proposes an improved LuGre friction compensation method based on high type control, which tunes the high type control system using multi-objective optimization algorithms, fits the LuGre friction model, and adds a friction compensation loop to compensate for the friction force during low-speed motion of the platform. To verify the effectiveness of the proposed method, tracking experiments were conducted on a single-axis horizontal photoelectric tracking platform. The experimental results show that compared with the traditional type-I and pure type-III control methods, the proposed LuGre friction compensation method based on high-type control has better control performance and higher robustness, effectively reducing the tracking error of the system and improving the accuracy and stability of the motion control system.