Characteristic Modeling and Control of Servo Systems with Backlash and Friction

Yifei Wu, Zhihong Wang, Yuanyuan Li, Wei Chen, Renhui Du and Qingwei Chen

Mathematical Problems in Engineering, 2014, vol. 2014, 1-21

Abstract:

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.

Date: 2014
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:328450

DOI: 10.1155/2014/328450

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