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Backlash inverse (BI) is a useful backlash compensator in electromechanical actuators (EMA). However, conventional BI is only relevant when the system damping is strong and the load torque is zero. When confronted with complex conditions, it is frequently ineffective, resulting in a decline in servo system performance. To address this issue, this work proposes a torque-type BI controller for the EMA with active disturbance rejection. To begin modeling EMA, a two-mass system with a deadzone and rigid link is built. The ineffective scenarios of conventional BI are then assessed using this paradigm. Following that, Torque-type BI is developed, which is distinguished by the design of a switching function based on motor current and tracking error. It is also used in conjunction with an active disturbance rejection controller. Finally, Experiments show that a torque-type BI controller may significantly decrease steady-state error and improve the dynamic performance of the EMA in complex conditions, therefore expanding the application scope of conventional BI.

Torque-type Backlash Inverse Control for an Electromechanical Actuator with Active Disturbance Rejection