Modeling and Friction Effect of Shipborne Tracking Antenna Servo System

In order to improve the friction nonlinear perturbation effect on shipboard antenna tracking, first to a certain type of ship azimuth servo system as an example, considering the establishment of a mathematical model with friction, and the model is carried out using PID control method. The results show that with friction disturbance considered, there are tracking exist "flat top" phenomenon and large tracking error, and when the speed is low, there is the "crawl" phenomenon.Keywords: ship servo system, friction disturbance, disturbance compensation