Experiment study for the dynamic friction compensation method is performed at last.
最后，论文对摩擦力动态补偿方法进行了试验研究。
An adaptive friction compensation scheme for direct drive valve was proposed based on LuGre model.
针对直接驱动阀阀芯摩擦力，论述了基于模型的摩擦力自适应补偿。
According to the structure invariance principle, a friction compensation controller is designed by choosing load pressure as the observed value.
基于结构不变性原理，以负载压力作为观测量，设计了摩擦力补偿控制器。
The experiment results indicate this friction compensation method can effectively compensate the friction and greatly improve the system character.
实验研究结果表明，该控制补偿方法可以有效的补偿系统低速运行时的摩擦力，大大提高系统低速性能。
The simulation results show that the proposed method can improve system's speed estimation, and it is effective for promoting the efficacy of friction and deadzone compensation.
仿真结果表明：该控制方法在提高系统速度估计精度、改善摩擦力和死区补偿效果等方面具有很好的效果，为直流伺服的系统设计提供了一种较好的方法。
The simulation results show that the proposed method can improve system's speed estimation, and it is effective for promoting the efficacy of friction and deadzone compensation.
仿真结果表明：该控制方法在提高系统速度估计精度、改善摩擦力和死区补偿效果等方面具有很好的效果，为直流伺服的系统设计提供了一种较好的方法。
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