Model Based Backlash Compensation (CROSBI ID 481537)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Jukić, Tomislav ; Perić, Nedjeljko
engleski
Model Based Backlash Compensation
In this paper it was experimentally proven that defining the model of backlash allows for compensation of backlash influence by adding a compensation component into control signal. Initially, algebra of blocks was used to obtain a more suitable representation of a servosystem with backlash in transmission elements. After having the system modeled in such a way, it was plausible to assume (this was confirmed by simulation) that the influence of backlash in a nonlinear system could be substituted with an additional component of control signal entering a linear system. Vice versa, incorporating that signal with the opposite sign into a nonlinear control system would result in lowering or complete elimination of backlash influence. Excellent system behavior was experimentally verified on a laboratory model, when proposed control concept was utilized.
Backlash modeling and compensation; servodrives
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Podaci o prilogu
paper no. IEEE13-x.
2001.
objavljeno
Podaci o matičnoj publikaciji
CD-ROM Proceedings of American Control Conference 2001
Bruce H. Krogh
Arlington (VA): Institute of Electrical and Electronics Engineers (IEEE)
Podaci o skupu
American Control Conference 2001 - ACC 2001
predavanje
25.07.2001-27.07.2001
Arlington (VA), Sjedinjene Američke Države