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.

引用

页数：21

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