研究一类高度非线性摩擦特性影响下的控制系统的定位控制问题 .针对负载扭矩变化而造成摩擦特性的变化 ,采用PID控制和摩擦补偿控制对阀控液压马达控制系统的定位控制进行实验对比分析 .实验结果表明 ,常规比例控制由于受摩擦的影响产生较大的稳态误差 ,而积分控制的引入可减小稳态误差 ,但却引起系统产生极限环振荡和较长的调节时间 ;简单的定摩擦补偿在恒定的负载扭矩下可以有效地减小稳态误差 ,但是当负载扭矩大范围变化时 ,稳态定位精度将大大降低 ;基于误差和误差变化的动态摩擦补偿 ,在负载扭矩大范围变化的条件下均获得了高精度的定位控制 . Aiming at the problem of positioning control of a control system under the influence of a highly nonlinear frictional characteristic, aiming at the change of frictional characteristic caused by the change of load torque, PID control and friction compensation control are used to experimentally control the positioning control of valve control hydraulic motor control system The experimental results show that the conventional proportional control has a large steady-state error due to friction, and the introduction of integral control can reduce the steady-state error, but it causes the system to produce limit cycle oscillation and long adjustment time. Fixed friction compensation can reduce the steady-state error effectively under a constant load torque, but when the load torque varies widely, the steady-state positioning accuracy will be greatly reduced. Based on the dynamic friction compensation of error and error, Under the conditions of change have been high-precision positioning control.