Naslov
A Comparative Study of Backlash Compensation Methods

Autori
Jukić, Tomislav ; Perić, Nedjeljko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the European Control Conference ECC 03 / - Cambridge, 2003

Skup
European Control Conference

Mjesto i datum
Cambridge, Ujedinjeno Kraljevstvo, 01.09.2003. - 04.09.2003

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Backlash; Compensation; Industrial applications; Motion control; Robotics

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA