Characteristic Modeling and Control of Servo Systems with Backlash and Friction | Zendy

Yifei Wu | Zendy; Zhihong Wang | Zendy; Yuanyuan Li | Zendy; Chen Wei | Zendy; R. Du | Zendy; Qingwei Chen | Zendy

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Characteristic Modeling and Control of Servo Systems with Backlash and Friction

Author(s) -

Yifei Wu,

Zhihong Wang,

Yuanyuan Li,

Chen Wei,

R. Du,

Qingwei Chen

Publication year - 2014

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 - 10.1155/2014/328450

Subject(s) - backlash , control theory (sociology) , servomechanism , servo , engineering , controller (irrigation) , stability (learning theory) , function (biology) , control (management) , control engineering , computer science , mechanical engineering , artificial intelligence , agronomy , machine learning , evolutionary biology , biology

A novel approach for modeling and control of servo systems with backlash and friction is proposed based on the characteristic model. Firstly, to deal with friction-induced nonlinearities, a smooth Stribeck friction model is introduced. The backlash is modeled by a continuous and derivable mathematical function. Secondly, a characteristic model in the form of a second-order slowly time-varying difference equation is established and verified by simulations. Thirdly, a composite controller including the golden-section adaptive control law and the integral control law is designed and the stability of the closed-loop system is analyzed. The simulation and experimental results show that the proposed control scheme is effective and can improve the steady-state precision and the dynamic performance of the servo system with backlash and friction

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