The existence of the nonlinear friction has a bad influence in servo system. A friction observer based on EKF( extended Kalman filter) is adapted, modified Tustin friction model is used to simulate real friction. Friction estimated by friction observer is used to compensate the real friction. Simulation results show that the proposed method can improve the performance of servo control system.%伺服控制系统中非线性摩擦力矩的干扰是影响系统性能提高的主要因素.为了减小摩擦力矩的影响,提出了基于扩展卡尔曼滤波器的状态观测器对摩擦力进行估计,采用改进型Tustin摩擦模型仿真实际摩擦力矩.Matlab仿真结果表明,构建的摩擦观测器能较准确地对摩擦力进行估计,加入摩擦力补偿后能有效改善运动控制系统性能,速度误差由18％降低到3％.
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