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Adaptive Backstepping Integral Control Of Servo Systems With Backlash

Posted on:2012-01-28Degree:MasterType:Thesis
Country:ChinaCandidate:C LiFull Text:PDF
GTID:2178330332988271Subject:Precision instruments and machinery
Abstract/Summary:PDF Full Text Request
Backlash in servomechanisms causes a severe deterioration of system performance. It can decrease the system's tracking accuracy, lead to steady-state errors, oscillations and even instability. Therefore, this paper based on backstepping integral approach focus on backlash compensation for servo system.Firstly, several common backlash nonlinear models are introduced, and we establish an approximately backlash dead-zone model which solves the problem that traditional dead-zone function is non differentiable, moreover, this model which considering equivalent stiffness and damping of gear trains describes backlash nonlinear more practical; then the control design for a typical servo system is achieved by introducing parameter adaptation with backstepping technique, we can deduce the control law recursively by constructing the suitable Lyapunov function, which ensures convergence of parameter estimation and global stability of the adaptive system; on the basis, we carry out the simulation and experiment with servo test bench, results show that the system's tracking accuracy and servo bandwidth are significantly improved and increased. More importantly, the impact and oscillation are reduced evidently while reversing, compared with conventional PID control. Backlash nonlinear is compensated effectively.
Keywords/Search Tags:servo system, backlash compensation, dead zone model, backstepping integral adaptive control, parameter adaptation
PDF Full Text Request
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