Tracking Control and Backlash Compensation in an Inverted Pendulum with Switched-Mode PID Controllers

被引：2

作者：

Awan, Aisha Akbar ^{[1
,3
]}

Khan, Umar S. ^{[1
]}

Awan, Asad Ullah ^{[2
]}

Hamza, Amir ^{[1
]}

机构：

[1] Natl Univ Sci & Technol, Mechatron Engn Dept, Islamabad 44000, Pakistan

[2] Tech Univ Munich, Sch Computat Informat & Technol, D-80333 Munich, Germany

[3] Wah Engn Coll, Mechatron Engn Dept, Wah Cantt 47040, Pakistan

来源：

APPLIED SCIENCES-BASEL | 2024年 / 14卷 / 22期

关键词：

DC motors; gear trains; backlash; drive-anti-drive mechanism; root mean square error (RMSE); NONLINEAR-SYSTEMS;

D O I：

10.3390/app142210265

中图分类号：

O6 [化学];

学科分类号：

0703 ;

摘要：

In electromechanical systems, backlash in gear trains can lead to a degradation in control performance. We propose a drive-anti-drive mechanism to address this issue. It consists of two DC motors that operate in opposite directions. One motor acts as the drive, while the other serves as the anti-drive to compensate for the backlash. This work focuses on switching between the drive and anti-drive motors, controlled by a switched-mode PID controller. Simulation results on an inverted pendulum demonstrate that the proposed scheme effectively compensates for backlash, improving position accuracy and control. This switched controller approach enhances the performance of electromechanical systems, particularly where gear backlash poses challenges to closed-loop performance.

引用

页数：15

共 29 条

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