All-Coefficient Adaptive Control of Dual-Motor Driving Servo System

Zhao, Haibo; Wang, Chengguang

doi:10.1051/matecconf/201710808009

Cited by 3 publications

(2 citation statements)

References 8 publications

(7 reference statements)

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“…Compared to dual-motor systems, it is difficult to satisfy the precision requirements of large inertia loads owing to the limited power of single motor systems. Therefore, dual-motor systems have recently been proposed and utilized in various applications [ 6 , 7 , 8 , 9 , 10 ] because of their advantages of high power, large inertia, and high-control performance. With the widespread usage of robots, especially industrial and agricultural robots, such as automatic assembly manipulator and high-precision automatic gantry hammock, large load and high-power application requirements are proposed.…”

Section: Introductionmentioning

confidence: 99%

Dual-Motor Synchronization Control Design Based on Adaptive Neural Networks Considering Full-State Constraints and Partial Asymmetric Dead-Zone

Jin

Cai

2021

Sensors

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This paper proposes a command filtering backstepping (CFB) scheme with full-state constraints by leading into time-varying barrier Lyapunov functions (T-BLFs) for a dual-motor servo system with partial asymmetric dead-zone. Firstly, for the convenience of the controller design, the conventional partial asymmetric dead-zone model was replaced with a new smooth differentiable model owing to its non-smoothness. Secondly, neural networks (NNs) were utilized to approximate the nonlinearity that exists in the dead-zone model, improving the control performance. In addition, CFB was utilized to deal with the inherent computational explosion problem of the traditional backstepping method, and an error compensation mechanism was introduced to further reduce the filtering errors. Then, by applying the T-BLF to the CFB process, the states of the system never violated the prescribed constraints, and all signals in the dual-motor servo system were bounded. The tracking error and synchronization error could converge to a small desired neighborhood of the origin. In the end, the effectiveness of the proposed control scheme was verified through simulations.

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Section: Introductionmentioning

confidence: 99%

Dual-Motor Synchronization Control Design Based on Adaptive Neural Networks Considering Full-State Constraints and Partial Asymmetric Dead-Zone

Jin

Cai

2021

Sensors

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“…The mechanical method is by strengthening the gear rigidity, but this method can not ensure that no backlash problems are generated. In the literature [6], the double-motor drive is used to eliminate the backlash. The two motors have the effect of offsetting the offset voltage by applying the same voltage offset voltage to the two drive motors driving the same driven shaft.…”

Section: Introductionmentioning

confidence: 99%

Application and Analysis of Double Speed Loops in Planetary Gear Drive

Chen¹,

Shao²,

Xuanlin³

et al. 2017

Proceedings of the 2017 Global Conference on Mechanics and Civil Engineering (GCMCE 2017)

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Abstract. In order to reduce the influence of the backlash in the planetary gears, this paper presents a control method of the double speed loops. The motor speed loop is used as the inner loop and the load velocity loop as the outer loop. Combining with the theoretical analysis and simulation .It is concluded that the double speed loops has a good effect on the non -linear disturbance caused by the backlash.

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Back‐stepping sliding mode control of one degree of freedom flight motion table

Zarei

Arvan

Vali

et al. 2019

Asian Journal of Control

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A one degree of freedom flight motion table is used to simulate the rotational movement of flying objects in hardware‐in‐the‐loop laboratories. This table uses a dual motor driving servo system. Owing to the existence of a gear transmission system, the backlash nonlinear function on modeling is inevitable, system equations are non‐affine and back‐stepping theory cannot handle this kind of system directly. Through new modeling of the backlash function as the summation of certain and uncertain parts, a proper structure for the controller algorithm is created. The controller is constructed through a back‐stepping sliding mode control algorithm. The back‐stepping concept allows the control algorithm to be extended to a high‐order dynamical system. Meanwhile, the SMC could eliminate these system uncertainties as it has a match perturbation with a virtual or real input signal of the subsystem. For non‐measurable variables, a sliding mode observer is also designed. The simulation results clearly demonstrate the superiority of the proposed method in comparison with conventional PID/FO‐PID control methods in angular tracking and speed synchronization.

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All-Coefficient Adaptive Control of Dual-Motor Driving Servo System

Cited by 3 publications

References 8 publications

Dual-Motor Synchronization Control Design Based on Adaptive Neural Networks Considering Full-State Constraints and Partial Asymmetric Dead-Zone

Dual-Motor Synchronization Control Design Based on Adaptive Neural Networks Considering Full-State Constraints and Partial Asymmetric Dead-Zone

Application and Analysis of Double Speed Loops in Planetary Gear Drive

Back‐stepping sliding mode control of one degree of freedom flight motion table

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