Compensation of friction and backlash effects in an electrical actuator

被引：21

作者：

Merzouki, R ^{[1
]}

Cadiou, JC ^{[1
]}

M'Sirdi, NK ^{[1
]}

机构：

[1] Lab Robot Versailles, F-78140 Velizy Villacoublay, France

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING | 2004年 / 218卷 / I2期

关键词：

friction force; non-linear observer; backlash effects; transmitted torque; electrical actuator; dead zone; adaptive control;

D O I：

10.1243/095965104322892249

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, non-linear observers, based on an estimation of the friction force and the disturbed torque transmitted due to the dead zone, are developed for systems presenting mechanical imperfections such as friction and backlash. Then an adaptive controller using these non-linear observers is presented, to compensate for mechanical disturbances on-line. Simulation and experimental results applied on an electrical actuator are given to support the theoretical demonstrations.

引用

页码：75 / 84

页数：10

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