A Gap Nonlinearity Compensation Strategy for Non-Direct-Drive Servo Systems

Bo Wang, Runze Ji, Chengpeng Zhou, Rana M. Sohel, Kai Liu (), Wei Hua and Hairong Ye
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Bo Wang: Xi’an Modern Control Technology Institute, Xi’an 710065, China
Runze Ji: School of Electrical Engineering, Southeast University, Nanjing 210096, China
Chengpeng Zhou: School of Electrical Engineering, Southeast University, Nanjing 210096, China
Rana M. Sohel: School of Electrical Engineering, Southeast University, Nanjing 210096, China
Kai Liu: School of Electrical Engineering, Southeast University, Nanjing 210096, China
Wei Hua: School of Electrical Engineering, Southeast University, Nanjing 210096, China
Hairong Ye: School of Electrical Engineering, Southeast University, Nanjing 210096, China

Energies, 2024, vol. 17, issue 14, 1-23

Abstract: In this paper, a gap nonlinear compensation strategy is proposed for the full closed-loop control structure of non-direct-drive servo motor systems. Firstly, an improved deadband model containing the initial value of the gap is proposed, and two gap amplitude identification methods, namely, incremental torque and velocity difference integral, are compared. Then, for the full closed-loop structure, based on the describing function and the stability theory of the nonlinear system, the limit-loop oscillating frequency and the influencing factors are predicted, which are related to the system control stiffness and independent of the gap amplitude; finally, the state-feedback control is proposed, and the feedback coefficients are designed by using the pole configuration, making the system a pseudo-linear system. Simulation and experimental verification show that the method can suppress the limit loop oscillation, attenuate the system shock, and have a certain robustness.

Keywords: non-direct-drive servo motor system; gap nonlinear compensation strategy; full closed-loop structure; pseudo-linear system (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2024
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