Ac Servo System Backlash Nonlinear Control Network

Backlash in AC servo-system often deteriorates the system dynamic performance significantly, and even makes the system unstable. So it is of great engineering value to study the control strategy to reduce or even eliminate the influence induced by backlash.At the very beginning of this thesis, the model of the linear part of the real system is obtained by system identification methods, the nonlinear part model is acquired through theory analysis, then the property of backlash is studied extensively using describing function. In the following part, three control strategies, including intelligent PID, compensation control and feedback of angular velocity difference are studied and applied to the system. Both the simulation and experiment results show that all the three control strategies can reduce backlash's influence efficiently. Furthermore, the networked servo-system based on CAN and Ethernet is constructed. Functional modules, such as stand time delay config, packet dropout rate config, control strategy selection and experiment data analysis are added to the research platform. At last, experiments are carried out on the real networked AC servo-system, and the influence of nonlinearities, such as time delay and packet dropout in the networked control system are analyzed through multiple experiments.