Friction torque severely weakens the tracking accuracy and low-speed stability of an m-level TCS (telescope control system). To solve this problem, a friction compensation method is proposed, based on high-precision LuGre friction model parameters identification. Together with dynamometer calibration, we first design a DOB (disturbance observer) to acquire high-accuracy TCS friction value in real time. Then, the PSO-GA (a hybrid algorithm combined particle swarm optimization algorithm and genetic algorithm) optimization algorithm proposed effectively and efficiently realizes the LuGre model parameters identification. In addition, we design a TCS controller including DOB and LuGre model parameters identification based on double-loop PID controller for practical application. Engineering verification tests indicate that the accuracy of DOB calibrated can reach 96.94%of the real measured friction.When azimuth axis operates in the speed cross-zero work mode, the average positive peak to tracking error reduces from 0.8926″ to 0.2252″ and the absolute average negative peak to tracking error reduces from 0.8881″ to 0.3984″. Moreover, the azimuth axis tracking MSE reduces from 0.1155″ to 0.0737″, which decreases by 36.2%. Experimental results validate the high precision, facile portability and high real-time ability of our approach.

摩擦力矩严重削弱了m级TCS（望远镜控制系统）的跟踪精度和低速稳定性。针对这一问题，提出了一种基于高精度LuGre摩擦模型参数辨识的摩擦补偿方法。结合测功机标定，我们首先设计了一个DOB（扰动观测器）来实时获取高精度的TCS摩擦值。然后，提出的PSO-GA（粒子群优化算法和遗传算法相结合的混合算法）优化算法有效且高效地实现了LuGre模型参数辨识。此外，我们设计了一个TCS控制器，包括基于双环PID控制器的DOB和LuGre模型参数辨识，用于实际应用。工程验证试验表明，DOB标定的精度可以达到实测摩擦力的96.94%。方位轴工作在速度过零工作模式时，平均正峰值到跟踪误差从0.8926"降低到0.2252"，绝对值平均负峰值跟踪误差从 0.8881" 减少到 0.3984"。此外，方位轴跟踪 MSE 从 0.1155" 降低到 0.0737"，降低了 36.2%。实验结果验证了我们方法的高精度、便携性和高实时性。方位轴跟踪 MSE 从 0.1155" 降低到 0.0737"，降低了 36.2%。实验结果验证了我们方法的高精度、便携性和高实时性。方位轴跟踪 MSE 从 0.1155" 降低到 0.0737"，降低了 36.2%。实验结果验证了我们方法的高精度、便携性和高实时性。