Abstract: Abstract：In order to improve the flexible vibration resulting from solar array, the PMSM(permanent magnet synchronous motor) is chosen to be the drive sources. A method of friction parameter identification and friction compensation is brought forward based on the LuGre model. Both static and dynamic parameters of the model are identified via the particle swarm optimization (PSO) algorithm. A friction torque measuring platform is designed, combined with which the proposed identification method is used to the test identification. From the comparison of simulation and test, the accuracy of the identification method is verified. The method is used to compensate the friction of SADA system， and the test results show that the method can improve the system’s tracking performance and decease the influences of friction.

Key words: Keywords：SADA, PMSM, friction parameter identification, PSO