伺服系统在低速运动时其控制精度极易受到摩擦力等扰动影响。通过对滚珠丝杠平台中摩擦力和扰动的分析，提出了一种基于LuGre摩擦力模型和降阶扩张状态观测器(RESO)的扰动补偿方法。首先利用曲线拟合和遗传算法辨识出系统LuGre摩擦力模型的参数，利用辨识出参数的摩擦力模型实现对系统中摩擦力的补偿；其次通过RESO实现对摩擦力的过补偿和欠补偿以及系统中其他集总扰动的观测补偿。试验结果表明该方法不仅可以提高摩擦力补偿的效果，同时还能对系统扰动进行抑制，有效提高了系统的跟踪精度。

The control accuracy of servo system is easily affected by friction and other disturbances at low speed. Through the analysis of the friction and disturbance in the ball screw platform, a disturbance compensation method based on the LuGre friction model and the reduced-order extended state observer (RESO) is proposed. Through the curve fitting and genetic algorithm to identify the parameters of the system′s LuGre friction model, the identified friction model is used to achieve the compensation of the friction in the system. The RESO is used to achieve the compensation of friction over-compensation or less-compensation and external lumped disturbances in the system. The experimental results show that this method can not only improve the effect of friction compensation, but also suppress the disturbance of the system, which effectively improves the tracking accuracy of the system.