Jiande Peng, Can Wang, Weilong Zheng, Jian-fei Pan, Fangfang Liu, Jinling Yang
{"title":"Compound Mechanism Analysis of Backlash and Friction Nonlinearity in Full-Closed-Loop Servo Drive System","authors":"Jiande Peng, Can Wang, Weilong Zheng, Jian-fei Pan, Fangfang Liu, Jinling Yang","doi":"10.1109/ICCSSE52761.2021.9545194","DOIUrl":null,"url":null,"abstract":"Full closed loop servo drive system is widely used in industry and medical field, and it is an ideal control scheme to achieve high precision position control. In this paper, by analyzing the dead-zone model of backlash and LuGre friction model, a compound two-mass full-closed-loop system with backlash and friction is established. The position response of the compound system is analyzed by description function method and simulation. Finally, it is concluded that friction can eliminate the characteristic of the limit cycle by the backlash, and the amplitude of the backlash will affect the duration of the flat at the crest.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCSSE52761.2021.9545194","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
Full closed loop servo drive system is widely used in industry and medical field, and it is an ideal control scheme to achieve high precision position control. In this paper, by analyzing the dead-zone model of backlash and LuGre friction model, a compound two-mass full-closed-loop system with backlash and friction is established. The position response of the compound system is analyzed by description function method and simulation. Finally, it is concluded that friction can eliminate the characteristic of the limit cycle by the backlash, and the amplitude of the backlash will affect the duration of the flat at the crest.