characteristic modeling and control of servo systems with backlash and friction

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ID: 211359
2014
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Abstract
A novel approach for modeling and control of servo systems with backlash and friction is proposed based on the characteristic model. Firstly, to deal with friction-induced nonlinearities, a smooth Stribeck friction model is introduced. The backlash is modeled by a continuous and derivable mathematical function. Secondly, a characteristic model in the form of a second-order slowly time-varying difference equation is established and verified by simulations. Thirdly, a composite controller including the golden-section adaptive control law and the integral control law is designed and the stability of the closed-loop system is analyzed. The simulation and experimental results show that the proposed control scheme is effective and can improve the steady-state precision and the dynamic performance of the servo system with backlash and friction.
Reference Key
wu2014mathematicalcharacteristic Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors ;Yifei Wu;Zhihong Wang;Yuanyuan Li;Wei Chen;Renhui Du;Qingwei Chen
Journal journal of power sources
Year 2014
DOI
10.1155/2014/328450
URL
http://dx.doi.org/10.1155/2014/328450
Keywords
civil engineering (general)mathematics engineering (general)

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