A Comparative Study of Backlash Compensation Methods (CROSBI ID 491230)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Jukić, Tomislav ; Perić, Nedjeljko
engleski
A Comparative Study of Backlash Compensation Methods
This paper describes three different approaches to compensation of backlash influence in a position-controlled system. The influence of backlash in a cascade structured position controller (method 1) with inner torque control loop is compensated by utilizing a fast linear torque controller, at the expense of having to measure the torque on shaft. Defining the model of backlash (method 2) allows for compensation of backlash influence by superposition of compensation signal. However, this method is more sensitive to measurement noise. Variable structure controller (method 3) (one for linear, and the other for nonlinear regime) proved well, with constraints on input signal. These methods were chosen because they were judged most appropriate with respect to constructional and computational constraints in the controlled system. Excellent system behaviors had been experimentally verified on a laboratory model, when proposed control concepts were utilized.
Backlash; Compensation; Industrial applications; Motion control; Robotics
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Podaci o prilogu
2003.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the European Control Conference ECC 03
Cambridge:
Podaci o skupu
European Control Conference
predavanje
01.09.2003-04.09.2003
Cambridge, Ujedinjeno Kraljevstvo