Backlash phenomenon observation and identification in electromechanical system

Merzouki, Rochdi; Dávila, Jorge; Fridman, Leonid; Cadiou, J.C.

doi:10.1016/j.conengprac.2006.09.001

Cited by 71 publications

(58 citation statements)

References 17 publications

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“…(4), the deadzone function and the sign function are not differentiable, so they must be smoothed. We use a smooth, continuous and differentiable function in place of deadzone function [16]:…”

Section: Assumptionmentioning

confidence: 99%

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

Zhao

Wang²

2017

MATEC Web Conf.

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Abstract. Backlash nonlinearity and friction nonlinearity exist in dual-motor driving servo system, which reducing system response speed, steady accuracy and anti-interference ability. In order to diminish the adverse effects of backlash and friction nonlinearity to system, we proposed a new all-coefficient adaptive control method. Firstly, we introduced the dynamic model of backlash and friction nonlinearity respectively. Then on this basis, we established the characteristic model when backlash and friction nonlinearity coexist. We used recursive least square method for parameter estimation. Finally we designed the all-coefficient adaptive controller. On the basis of simplex allcoefficient adaptive controller, we designed a feedforward all-coefficient adaptive controller. The simulations of feedforward all-coefficient adaptive control and simplex all-coefficient adaptive control were compared. The results show that the former has quicker response speed, higher steady accuracy, stronger anti-interference performance and better robustness, which validating the efficacy of the proposed control strategy.

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Section: Assumptionmentioning

confidence: 99%

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

Zhao

Wang²

2017

MATEC Web Conf.

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“…Modelling of backlash torque was presented in Merzouki and Cadiou [2005], who used using a differentiable function to represent backlash and suggested a nonlinear observer for estimation of backlash amplitude. This method was validated experimentally in Merzouki et al [2007], in which a sliding mode observer was used for estimation of backlash torque. Based on this estimation, backlash function parameters were identified offline.…”

Section: Introductionmentioning

confidence: 99%

“…The proposed method employs modelling of backlash in terms of variable shaft stiffness, depending on the deadzone size, and it addresses the requirement for fast and accurate estimation of the deadzone angle. Similarly to Merzouki et al [2007], a second order Super-twisting Sliding Mode observer (STSMO) is used to estimate the backlash torque. This value is utilized by an adaptive estimator designed with the purpose to determine the deadzone angle.…”

Section: Introductionmentioning

confidence: 99%

Backlash estimation for industrial drive-train systems

et al. 2017

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Backlash in gearing and other transmission components is a common positioning-degrading phenomenon that develops over time in industrial machines. High-performance machine controls use backlash compensation algorithms to maintain accurate positioning of the tool to cope with such deadzone phenomena. As such, estimation of the magnitude of deadzones is essential. This paper addresses the generic problem of accurately estimating the width of the deadzone in a single-axis mechanical drive train. The paper suggests a scheme to estimate backlash between motor and load, employing a sliding mode observer and a nonlinear adaptive estimator. High fidelity simulations illustrate the efficacy of the approach.

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“…Due to its robustness properties, the proposed control scheme is able enough to compensate parametric uncertainties and unmodeled dynamics as backlash. Furthermore, while in the literature, to the best of the authors knowledge, it has been considered a narrow backlash angle [1,10]; in this work, a wide backlash angle near to 2π has been considered, i.e. a one tooth gear mechanism.…”

Section: Introductionmentioning

confidence: 99%

Robust Adaptive Control for a DC Servomotor with wide Backlash Nonlinearity

2015

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In this paper, the problem of driving angular position of a direct current servomotor system with unmodeled wide backlash nonlinearity is addressed. In order to tackle this problem, a control scheme based on an adaptive super twisting algorithm is proposed. In order to implement the proposed controller, information about angular velocity is estimated by means of a robust differentiator. Based on a simplified model of the system, the proposed scheme increases robustness against unmodeled dynamics as backlash, as not all the parameters of the system nor the bounds of the perturbations are required to be known. Experimental results considering a wide backlash angle near to 2π, illustrate the feasibility and performance of the proposed control methodology.Key words: Robust control, Adaptive control, Servomotor, Backlash nonlinearity Robusno adaptivno upravljanje istosmjernim servomotorom s nelinearnom širokom zračnosti. U ovom radu bavi se problemom kutnog pozicioniranja istosmjernog sevomotora s nemodeliranom nelinearnošću široke zračnosti. Za rješenje tog problema predlaže se korištenje upravljačke sheme bazirane na algoritmu adaptivnog uvijanja. Kako bi se implementiralo predloženo upravljanje, kutna brzina estimira se korištenjem robusnog diferencijatora. Bazirana na pojednostavljenom modelu sustava, predložena shema povećava robustnost u odnosu na nemodeliranu dinamiku kao što je zračnost. Pritom nije potrebno poznavanje svih parametara sustava niti očeki-vane granice smetnji. Eksperimetalni rezultati, koji uzimaju u obzir široki kut zračnosti od skoro 2π, ilustriraju izvodljivost i učinkovitost predloženog algoritma upravljanja.

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Backlash phenomenon observation and identification in electromechanical system

Cited by 71 publications

References 17 publications

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

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

Backlash estimation for industrial drive-train systems

Robust Adaptive Control for a DC Servomotor with wide Backlash Nonlinearity

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