Projection Algorithm-Based Dynamic Surface Control of Dual-Motor Driving Servo System with Backlash Nonlinearity
Summary :
Dual-motor driving servo systems are widely used in many military and civil fields. Since backlash nonlinearity affects the dynamic performance and steady-state tracking accuracy of these systems, it is necessary to study a control strategy to reduce its adverse effects. We first establish the state-space model of a system. To facilitate the design of the controller, we simplify the model based on the state-space model. Then, we design an adaptive controller combining a projection algorithm with dynamic surface control applied to a dual-motor driving servo system, which we believe to be the first, and analyze its stability. Simulation results show that projection algorithm-based dynamic surface control has smaller tracking error, faster tracking speed, and better robustness and stability than mere dynamic surface control. Finally, the experimental analysis validates the effectiveness of the proposed control algorithm.
- Publication
- IEICE TRANSACTIONS on Fundamentals Vol.E101-A No.10 pp.1646-1657
- Publication Date
- 2018/10/01
- Publicized
- Online ISSN
- 1745-1337
- DOI
- 10.1587/transfun.E101.A.1646
- Type of Manuscript
- PAPER
- Category
- Systems and Control
Authors
Haibo ZHAO
Tongling University
Chengguang WANG
the Sichuan Institute of Aerospace System Engineering
Keyword
Latest Issue
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Haibo ZHAO, Chengguang WANG, "Projection Algorithm-Based Dynamic Surface Control of Dual-Motor Driving Servo System with Backlash Nonlinearity" in IEICE TRANSACTIONS on Fundamentals,
vol. E101-A, no. 10, pp. 1646-1657, October 2018, doi: 10.1587/transfun.E101.A.1646.
Abstract: Dual-motor driving servo systems are widely used in many military and civil fields. Since backlash nonlinearity affects the dynamic performance and steady-state tracking accuracy of these systems, it is necessary to study a control strategy to reduce its adverse effects. We first establish the state-space model of a system. To facilitate the design of the controller, we simplify the model based on the state-space model. Then, we design an adaptive controller combining a projection algorithm with dynamic surface control applied to a dual-motor driving servo system, which we believe to be the first, and analyze its stability. Simulation results show that projection algorithm-based dynamic surface control has smaller tracking error, faster tracking speed, and better robustness and stability than mere dynamic surface control. Finally, the experimental analysis validates the effectiveness of the proposed control algorithm.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/transfun.E101.A.1646/_p
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@ARTICLE{e101-a_10_1646,
author={Haibo ZHAO, Chengguang WANG, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Projection Algorithm-Based Dynamic Surface Control of Dual-Motor Driving Servo System with Backlash Nonlinearity},
year={2018},
volume={E101-A},
number={10},
pages={1646-1657},
abstract={Dual-motor driving servo systems are widely used in many military and civil fields. Since backlash nonlinearity affects the dynamic performance and steady-state tracking accuracy of these systems, it is necessary to study a control strategy to reduce its adverse effects. We first establish the state-space model of a system. To facilitate the design of the controller, we simplify the model based on the state-space model. Then, we design an adaptive controller combining a projection algorithm with dynamic surface control applied to a dual-motor driving servo system, which we believe to be the first, and analyze its stability. Simulation results show that projection algorithm-based dynamic surface control has smaller tracking error, faster tracking speed, and better robustness and stability than mere dynamic surface control. Finally, the experimental analysis validates the effectiveness of the proposed control algorithm.},
keywords={},
doi={10.1587/transfun.E101.A.1646},
ISSN={1745-1337},
month={October},}
Copy
TY - JOUR
TI - Projection Algorithm-Based Dynamic Surface Control of Dual-Motor Driving Servo System with Backlash Nonlinearity
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 1646
EP - 1657
AU - Haibo ZHAO
AU - Chengguang WANG
PY - 2018
DO - 10.1587/transfun.E101.A.1646
JO - IEICE TRANSACTIONS on Fundamentals
SN - 1745-1337
VL - E101-A
IS - 10
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - October 2018
AB - Dual-motor driving servo systems are widely used in many military and civil fields. Since backlash nonlinearity affects the dynamic performance and steady-state tracking accuracy of these systems, it is necessary to study a control strategy to reduce its adverse effects. We first establish the state-space model of a system. To facilitate the design of the controller, we simplify the model based on the state-space model. Then, we design an adaptive controller combining a projection algorithm with dynamic surface control applied to a dual-motor driving servo system, which we believe to be the first, and analyze its stability. Simulation results show that projection algorithm-based dynamic surface control has smaller tracking error, faster tracking speed, and better robustness and stability than mere dynamic surface control. Finally, the experimental analysis validates the effectiveness of the proposed control algorithm.
ER -
English
