Open AccessTime Domain Simulation of a Target Tracking System with Backlash Compensation
Author(s) -
Maurício Gruzman,
Hans Ingo Weber,
Luciano Luporini Menegaldo
Publication year - 2009
Publication title -
mathematical problems in engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.262
H-Index - 62
eISSN - 1026-7077
pISSN - 1024-123X
DOI - 10.1155/2010/973482
Subject(s) - backlash , control theory (sociology) , compensation (psychology) , nonlinear system , engineering , armature (electrical engineering) , control system , control engineering , time domain , transmission system , transmission (telecommunications) , computer science , control (management) , physics , mechanical engineering , artificial intelligence , psychology , electrical engineering , quantum mechanics , psychoanalysis , computer vision , magnet
This paper presents a model of a target tracking system assembled in a moving body. The system is modeled in time domain as a nonlinear system, which includes dry friction, backlash in gear transmission, control input tensions saturation, and armature current saturation. Time delays usually present in digital controllers are also included, and independent control channels are used for each motor. Their inputs are the targets angular errors with respect to the system axial axis and the outputs are control tensions for the motors. Since backlash in gear transmission may reduce the systems accuracy, its effects should be compensated. For that, backlash compensation blocks are added in the controllers. Each section of this paper contains a literature survey of recent works dealing with the issues discussed in this article
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