A Compensation Approach of Backlash Nonlinearity in Dual-Motor Driving Servo System

Abstract:

Aiming at the control problem of dual-motor driving servo system with backlash nonlinearity, we proposed the model of system linear part. We used describing function methods to analyze backlash nonlinearity characteristic. The simulation experiments of nonlinear system with backlash were carried out. The results of simulation show that system represents residual self-oscillation with step response, nonstationarity with low speed tracking and error abrupt change produced by sinusoidal tracking reversing. In the end, we used compensation control strategy to weaken the impact of backlash nonlinearity on dual-motor driving servo system. Finally the simulation illustrates the effectiveness of the proposed compensation control strategy.

• Periodical: Applied Mechanics and Materials (Volume 389)
• Pages: 448-453
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.389.448
• Online since: August 2013
• Authors: Hai Bo Zhao, Yun Guo Zhu
• Keywords: Backlash Nonlinearity, Compensation Study, Dual-Motor Driving, System Simulation

References

[1] R.H. Du,Y.F. Wu,W. Chen. Adaptive backstepping fuzzy control for servo systems with backlash [J], , Control Theory and Applications, v30, n2, pp.254-260, (2013).

[2] S. Zhu M.X. Sun X.X. He. Adaptive control of a class of periodically time-varying nonlinear systems with input backlash[J], Control Theory and Applications, v29, n4, pp.535-538, (2012).

[3] S. Zhu M.X. Sun X.X. He. Iterative Learning Control of a Class of Nonlinear Systems with Input Backlash[J], ACTA AUTOMATICA SINICA, v37, n8, (2011).

[4] J. Guo Y.F. Wu,Q.W. Chen. Adaptive Control of a Nonlinear System with Input Backlash[J], ACTA ARMAMENTARII, v32, n10, (2011).

[5] Han, Kwang Ho, Koh, Gi Ok, Sung, Jaemin. An adaptive control approach for improving control systems with unknown backlash[J], , International Journal of Aeronautical and Space Sciences, v12, n4, pp.360-364, (2011).

DOI: 10.5139/ijass.2011.12.4.360

[6] Q. Ling,W. Zheng,J. Li. A novel switched control strategy for systems with backlash[J], International Journal of Digial Content Technology and its Applications, v 7, n 1, pp.737-744, (2013).

[7] Kolnik, Itai; Agranovich, Grigory. Backlash compensation for motion system with elastic transmission, 2012 IEEE 27th Convention of Electrical and Electronics Engineers in Israel, IEEEI (2012).

DOI: 10.1109/eeei.2012.6377140

[8] Huang, J.; Li, C.; Duan, B.Y. Adaptive backstepping integral control of servo systems with backlash[J] , , Journal of Systems and Control Engineering, v225, n8, pp.1149-1162, (2011).

DOI: 10.1177/0959651811400950

[9] Jaisheela, J.; Kumar, K.S. Control of backlash in electromechanical system-design and simulation based approach, 2012 International Conference on Devices, Circuits and Systems (ICDCS 2012), pp.427-31, (2012).

DOI: 10.1109/icdcsyst.2012.6188754

[10] Z.P. Zhou Y.H. Tan. Non-smooth observer for sandwich systems with backlash[J], , Control Theory and Applications, v29, n1, pp.34-40, (2012).