engleski

Autotuning Controller with Backlash Compensation

This paper depicts an implementation of an autotuning controller in a position controlled system with backlash. It operates in three distinguishable phases: linear system parameter identification, backlash amount identification and invoking a position controller with model-based backlash influence compensation. Experiments on a laboratory model proved outstanding controller performance.

Brushless drives; Control; Industrial applications; Motion control; Robotics; Servo drives

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