Multi-Axis Servo System Control Design Considering Low-Speed Friction Dynamics

Huimin Liu () and Rui Wang
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Huimin Liu: Institute of Automation, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250316, China
Rui Wang: School of Mathematical Sciences, Qufu Normal University, Qufu 273165, China

Mathematics, 2024, vol. 12, issue 22, 1-16

Abstract: This paper introduces an extended state observer-based command filtered backstepping control method to improve the tracking accuracy and synchronization performance of multi-motor-driving servo systems under the condition of low-speed nonlinear friction dynamics. Firstly, a novel and effective four-motor synchronization scheme is designed and various groups of synchronization feedback signals are introduced to achieve accurate synchronization performance among motors. Then, the observer is designed to estimate the friction torque. And the controller is developed via command filtered backstepping technique to avoid additional computational complexity, making the control signals suitable for practical application. Finally, the stability of the closed-loop system is analyzed, and the tracking and synchronization performance is verified through designed experiments.

Keywords: command filter; ESO-based backstepping; multi-motor motion control; nonlinear friction dynamics (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2024
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