Characteristic modeling and control of servo systems with backlash and friction
type: Item
instance of: scholarly article
title: Characteristic modeling and control of servo systems with backlash and friction
zbMATH Open document ID: 1407.93297
DOI: 10.1155/2014/328450
author: Yifei Wu
author: Zhihong Wang
author: Wei Chen
author: Renhui Du
author: Yuanyuan Li
author: Qingwei Chen
published in: Mathematical Problems in Engineering
publication date: 2019-02-08T00:00:00Z
review text: Summary: 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.
Mathematics Subject Classification ID: 93C95
Mathematics Subject Classification ID: 93D20
Mathematics Subject Classification ID: 93C40
zbMATH DE Number: 7016187
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2014/328450
OpenAlex ID: W1984391085
Wikidata QID: Q59064308
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description: scientific article; zbMATH DE number 7016187