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Characteristic Modeling and Control of Servo Systems with Backlash and Friction

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  • Yifei Wu
  • Zhihong Wang
  • Yuanyuan Li
  • Wei Chen
  • Renhui Du
  • Qingwei Chen

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.

Suggested Citation

  • Yifei Wu & Zhihong Wang & Yuanyuan Li & Wei Chen & Renhui Du & Qingwei Chen, 2014. "Characteristic Modeling and Control of Servo Systems with Backlash and Friction," Mathematical Problems in Engineering, Hindawi, vol. 2014, pages 1-21, February.
    • Handle: RePEc:hin:jnlmpe:328450
    DOI: 10.1155/2014/328450
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    Cited by:

    1. Zou, Songchun & Zhao, Wanzhong, 2020. "Energy optimization strategy of vehicle DCS system based on APSO algorithm," Energy, Elsevier, vol. 208(C).

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