Control of Gear Transmission Servo Systems With Asymmetric Deadzone Nonlinearity

Ju, Xiaoliang; Ding, Zhengtao

doi:10.1109/tcst.2015.2493119

Cited by 44 publications

(21 citation statements)

References 24 publications

(43 reference statements)

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“…From the mathematical point of view, the best results are achieved using the logarithmic function proposed in the paper [12]:…”

Section: Mathematical Models Of Gear Backlashmentioning

confidence: 99%

“…When calculating the limit of the approximation function (12), it was found that the position of the asymptote is set at 0.467. This number approximately corresponds to the frequency of external load when there is a hopping of the amplitude of periodic vibrations.…”

Section: Optimization Of Parameter Amentioning

confidence: 99%

“…Due to the simplifications related to numerical calculations, the discontinuous characteristics of the gear backlash are sometimes approximated by polynomial functions of degree three [10,11]. An alternative approach to the numerical mapping of the backlash is the approximation with a continuous function, with the equation proposed in the paper [12]. The use of this type of simplification is mainly related to the strong nonlinearity of gear backlash, which causes computational problems, in particular manifested by inaccurate mapping of time series and derivatives of higher orders in generalized coordinates [13].…”

Section: Introductionmentioning

confidence: 99%

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Modelling of the gear backlash

2019

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In this paper, model tests were carried out, which mainly focused on the numerical mapping of the characteristics of the gear backlash. In particular, the effect of the approximation function on the value of the largest Lyapunov exponent was investigated. The generated multicoloured maps served as a criterion for verifying the results of the model tests. The analysis involved polynomial functions of the third degree, its modified structure, and the logarithmic equation. As a pattern to which the results of model tests were derived, the mathematical model of the gear was used, in which the characteristics of the backlash were modelled with a non-continuous function describing the so-called dead zone. We show that the dependencies described by polynomials imprecisely describe the dynamics of a single-stage gear transmission mechanism. Additionally, the value of the logarithmic coefficient, which approximates the backlash characteristics, for which the Poincare cross section corresponds with its model counterpart, is determined. The coefficient of the logarithmic function was optimized on the basis of

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“…From the mathematical point of view, the best results are achieved using the logarithmic function proposed in the paper [12]:…”

Section: Mathematical Models Of Gear Backlashmentioning

confidence: 99%

Section: Optimization Of Parameter Amentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Modelling of the gear backlash

2019

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“…The most relevant published strategies are: deadzone compensation using neural networks [4] and variable structure control [5]. Control of gear transmission servo system with asymmetric deadzone nonlinearity is proposed in [6] and [7]. Compensa-tion for nonsymmetrical deadzones is considered in [8] for nonlinear systems in Brunosky form with known nonlinear functions, and for unknown nonlinear canonical form systems in [9] where a backstepping approach is used.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy Logic Deadzone Compensation with Feedback Linearization of Nonlinear Systems

Jang¹

2019

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A fuzzy logic compensator is designed for feedback linearizable nonlinear systems with deadzone nonlinearity. The classification property of fuzzy logic systems makes them a natural candidate for the rejection of errors induced by the deadzone, which has regions in which it behaves differently. A tuning algorithm is given for the fuzzy logic parameters, so that the deadzone compensation scheme becomes adaptive, guaranteeing small tracking errors and bounded parameter estimates. Formal nonlinear stability proofs are given to show that the tracking error is small. The fuzzy logic deadzone compensator is simulated on a one-link robot system to show its efficacy.

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“…The hysteresis model describes the relationship between the output angle of backlash and the input angle under the assumption that the shaft is stiff [10]. Dead-zone model describes the torque transitive relationship between the driving and driven subsystem [11]. Impact-damper model reflects the mechanism in the process of impaction caused by backlash.…”

Section: Introductionmentioning

confidence: 99%

Chattering-Free Sliding-Mode Control for Electromechanical Actuator with Backlash Nonlinearity

Hui

2017

Journal of Electrical and Computer Engineering

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Considering the backlash nonlinearity and parameter time-varying characteristics in electromechanical actuators, a chattering-free sliding-mode control strategy is proposed in this paper to regulate the rudder angle and suppress unknown external disturbances. Different from most existing backlash compensation methods, a special continuous function is addressed to approximate the backlash nonlinear dead-zone model. Regarding the approximation error, unmodeled dynamics, and unknown external disturbances as a disturbance-like term, a strict feedback nonlinear model is established. Based on this nonlinear model, a chattering-free nonsingular terminal sliding-mode controller is proposed to achieve the rudder angle tracking with a chattering elimination and tracking dynamic performance improvement. A Lyapunov-based proof ensures the asymptotic stability and finite-time convergence of the closed-loop system. Experimental results have verified the effectiveness of the proposed method.

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Control of Gear Transmission Servo Systems With Asymmetric Deadzone Nonlinearity

Cited by 44 publications

References 24 publications

Modelling of the gear backlash

Modelling of the gear backlash

Fuzzy Logic Deadzone Compensation with Feedback Linearization of Nonlinear Systems

Chattering-Free Sliding-Mode Control for Electromechanical Actuator with Backlash Nonlinearity

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