Fuzzy PID Inverse Compensation for Mechanic Systems with Input Backlash

Zhang, Chi; Fu, Chenlin; Jia, Lijie

doi:10.1109/cac48633.2019.8996475

Cited by 5 publications

(1 citation statement)

References 16 publications

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“…e mechanical solution consists in modifying the structure of the mechanical system, which is expensive [1,2]. e control solution consists in minimizing the effect of backlash by using a control law that takes into account the hysteresis disturbance [3][4][5][6][7][8][9][10][11]. e latter solution is less expensive.…”

Section: Introductionmentioning

confidence: 99%

Extend Disturbance Observer of Backlash-Based Robust Sliding-Mode Control

Wang

Mao

2021

Mathematical Problems in Engineering

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The backlash by the hysteresis between the input and the output is always present in the inertial stabilized platform, which will seriously affect the dynamic performance of the platform system at low speed. So, the backlash has been paid more and more attention for the use in the inertial stabilized platform. To handle such a situation, extend disturbance observer (EDOB) has a high advantage to compensate the disturbance caused by backlash. However, some research studies show that the observation effect for some fast time-varying disturbances is satisfactory, which will strict limits on the rate of change in disturbance and still hamper its application; consequently, this paper proposes a sliding-mode-based extend disturbance observer (SMEDO) to compensate backlash. By well-designed sliding-mode surface, it is unnecessary to measure the whole state and the lack of robustness against unmatched uncertainties of the resulting controller, and the robustness and accuracy of modified disturbance observer can be enhanced. Experiments were carried out on a DSP-based platform with backlash in the pitch shafting. The obtained experimental results demonstrate that the SMEDO scheme has an improved performance with the dynamic performance and shafting transmission accuracy compared with the traditional methods.

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