Characteristic Modeling and Control of Servo Systems with Backlash and Friction. (19th February 2014)

• Record Type: Journal Article
• Authors: Wu, Yifei; Wang, Zhihong; Li, Yuanyuan; Chen, Wei; Du, Renhui; Chen, Qingwei
• Other Names: Zheng Bo-Chao Academic Editor.
• Is Part Of: Mathematical problems in engineering. Volume 2014(2014)
• Publication Date: 2014-02-19
• Subjects: Engineering mathematics -- Periodicals; 510.2462
• DOI: 10.1155/2014/328450
• Languages: English
• ISSNs: 1024-123X

Abstract

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.