Auto-disturbance-rejection control of servo systems with output backlash

Yongli Shi; Chaozhen Hou; Haibing Su

doi:10.1117/12.718228

30 October 2006 Auto-disturbance-rejection control of servo systems with output backlash

Yongli Shi, Chaozhen Hou, Haibing Su

Proceedings Volume 6358, Sixth International Symposium on Instrumentation and Control Technology: Sensors, Automatic Measurement, Control, and Computer Simulation; 63584D (2006) https://doi.org/10.1117/12.718228
Event: Sixth International Symposium on Instrumentation and Control Technology, 2006, Beijing, China

Abstract

Backlash is one of the factors severely limiting the performance of the servo systems. In order to eliminate the influences of the backlash nonlinear characteristics, a two-step compensation method is proposed. The first-step compensation adopts backlash inverse model as the primary tools and can eliminate the effects of the backlash on the control performance to a certain extent. Thereafter, an auto-disturbance-rejection controller (ADRC) is introduced to realize the second-step compensation of the backlash. Thus, the residual compensation errors of the backlash can be compensated precisely by the ADRC. Compared with the previous studies, the method of this paper can improve the compensation accuracy a lot and can be implemented easily in engineering. Simulation results indicate that the method presented above is feasible.

Citation Download Citation

Yongli Shi, Chaozhen Hou, and Haibing Su "Auto-disturbance-rejection control of servo systems with output backlash", Proc. SPIE 6358, Sixth International Symposium on Instrumentation and Control Technology: Sensors, Automatic Measurement, Control, and Computer Simulation, 63584D (30 October 2006); https://doi.org/10.1117/12.718228

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