Characteristic Modeling and Control of Servo Systems with Backlash and Friction

被引：7
|
作者：
Wu, Yifei [1 ]
Wang, Zhihong [1 ]
Li, Yuanyuan [1 ]
Chen, Wei [1 ]
Du, Renhui [1 ]
Chen, Qingwei [1 ]
机构：
[1] Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Jiangsu, Peoples R China
来源：
MATHEMATICAL PROBLEMS IN ENGINEERING | 2014年 / 2014卷
基金：
中国国家自然科学基金;
关键词：
COEFFICIENT ADAPTIVE-CONTROL; MECHANICAL SYSTEMS; COMPENSATION;
D O I：
10.1155/2014/328450
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
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.
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收藏
页数：21
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