Variable gain switching exact differential observer‐based compensation control for servo system with backlash
Abstract This paper proposes a novel variable gain switching exact differential observer (SEDO) to deal with the state estimation of mechanical servo system with unknown backlash. In order to compensate unknown non‐linear backlash accurately, a switching backlash torque mathematic model is construct...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-09-01
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| Series: | IET Control Theory & Applications |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/cth2.12108 |
| _version_ | 1797986098161385472 |
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| author | Guofa Sun Yaming Xu Yan Wang Gang Wang |
| author_facet | Guofa Sun Yaming Xu Yan Wang Gang Wang |
| author_sort | Guofa Sun |
| collection | DOAJ |
| description | Abstract This paper proposes a novel variable gain switching exact differential observer (SEDO) to deal with the state estimation of mechanical servo system with unknown backlash. In order to compensate unknown non‐linear backlash accurately, a switching backlash torque mathematic model is constructed to describe the input–output relationships of backlash. Then, based on the switching backlash torque mathematic model, a novel SEDO with variable gain strategy is implemented to compensate the influence of backlash and estimate system states accurately in terms of the change of real operation conditions. Moreover, the designed controller further alleviates the computational burden by conducting a feedforward compensation strategy, part of which is shared by the observer. It is proven that all the signals in the closed‐loop system are bounded, observation error and tracking error are convergent to a small compact set of the origin. Two simulations and two different motor servo test rigs are established to further illustrate the effectiveness of the proposed approach. |
| first_indexed | 2024-04-11T07:28:40Z |
| format | Article |
| id | doaj.art-52fc2a4c388c4e4ea92891d54dc34476 |
| institution | Directory Open Access Journal |
| issn | 1751-8644 1751-8652 |
| language | English |
| last_indexed | 2024-04-11T07:28:40Z |
| publishDate | 2021-09-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Control Theory & Applications |
| spelling | doaj.art-52fc2a4c388c4e4ea92891d54dc344762022-12-22T04:36:59ZengWileyIET Control Theory & Applications1751-86441751-86522021-09-0115141789180310.1049/cth2.12108Variable gain switching exact differential observer‐based compensation control for servo system with backlashGuofa Sun0Yaming Xu1Yan Wang2Gang Wang3School of Information and Control Engineering Qingdao University of Technology Qingdao ChinaSchool of Astronautics Harbin Institute of Technology Harbin ChinaSchool of Astronautics Harbin Institute of Technology Harbin ChinaSchool of Information and Control Engineering Qingdao University of Technology Qingdao ChinaAbstract This paper proposes a novel variable gain switching exact differential observer (SEDO) to deal with the state estimation of mechanical servo system with unknown backlash. In order to compensate unknown non‐linear backlash accurately, a switching backlash torque mathematic model is constructed to describe the input–output relationships of backlash. Then, based on the switching backlash torque mathematic model, a novel SEDO with variable gain strategy is implemented to compensate the influence of backlash and estimate system states accurately in terms of the change of real operation conditions. Moreover, the designed controller further alleviates the computational burden by conducting a feedforward compensation strategy, part of which is shared by the observer. It is proven that all the signals in the closed‐loop system are bounded, observation error and tracking error are convergent to a small compact set of the origin. Two simulations and two different motor servo test rigs are established to further illustrate the effectiveness of the proposed approach.https://doi.org/10.1049/cth2.12108Control system analysis and synthesis methodsStability in control theorySelf‐adjusting control systemsNonlinear control systems |
| spellingShingle | Guofa Sun Yaming Xu Yan Wang Gang Wang Variable gain switching exact differential observer‐based compensation control for servo system with backlash IET Control Theory & Applications Control system analysis and synthesis methods Stability in control theory Self‐adjusting control systems Nonlinear control systems |
| title | Variable gain switching exact differential observer‐based compensation control for servo system with backlash |
| title_full | Variable gain switching exact differential observer‐based compensation control for servo system with backlash |
| title_fullStr | Variable gain switching exact differential observer‐based compensation control for servo system with backlash |
| title_full_unstemmed | Variable gain switching exact differential observer‐based compensation control for servo system with backlash |
| title_short | Variable gain switching exact differential observer‐based compensation control for servo system with backlash |
| title_sort | variable gain switching exact differential observer based compensation control for servo system with backlash |
| topic | Control system analysis and synthesis methods Stability in control theory Self‐adjusting control systems Nonlinear control systems |
| url | https://doi.org/10.1049/cth2.12108 |
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