Piecewise Affine (PWA) Modeling and Switched Damping Control of Two-Inertia Systems with Backlash

被引：0

作者：

Yamada, Shota ^{[1
]}

Ruderman, Michael ^{[2
]}

Fujimoto, Hiroshi ^{[1
]}

机构：

[1] Univ Tokyo, Chiba, Japan

[2] Univ Agder, Grimstad, Norway

来源：

2018 IEEE 15TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC) | 2018年

基金：

欧盟地平线“2020”;

关键词：

Backlash; load-side encoder; piecewise affine system; switching system; two-inertia system; MECHANICAL SYSTEMS; ROBOTS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Backlash degrades positioning accuracy and can induce mechanical wear and breakage by collisions. Therefore, a lot of studies have been conducted on backlash compensation. The simplest control method for the impact attenuation is torsional damping addition by feedback of torsional velocity. This paper reveals the advantages and disadvantages of the torsional damping addition. Based on the analyses, a novel switched damping control is proposed to realize the responses with smaller overshoot while attenuating the impact. The mechanical system and the proposed controller are described as piecewise affine systems for analyses. The performance of the proposed method is compared with a linear damping control method in simulations and experiments.

引用

页码：479 / 484

页数：6

共 15 条

[1]

[Anonymous], 2003, PIECEWISE LINEAR CON

[2]

Azenha A, 1996, IEEE INT CONF ROBOT, P366, DOI 10.1109/ROBOT.1996.503804

[3] A Switched Predictive Controller for an Electrical Powertrain System With Backlash [J].