针对坦克瞄准线稳定系统中存在的非线性摩擦扰动，为提高稳定精度，提出了一种基于简化的Stribeck摩擦模型在线辨识方法。利用遗传算法进行在线辨识，克服了坦克瞄准线稳定系统电机转动空间太小而带来的无法利用一般方法获取摩擦力矩Stribeck曲线的问题。仿真实验结果表明辨识方法确实有效，通过前馈补偿，坦克瞄准线稳定系统性能得到了很大提高。%For nonlinear friction disturbance existing in the Tank Sight Stabilized System, this paper proposed a Stribeck friction model online identification method based on GA to improve system stability accuracy. It overcomes the problem of cannot get the friction torque curve because of the motor rotation space is limited. The experimental results show that the identification method is effective. Tank Sight Stabilized System performance is improved through feedforward compensation.
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