Control system for technical objects with automatic backlash compensation

Abstract

When operating technical equipment in various industries there appears the problem of reducing the performance characteristics of the controlled object and the control system due to wear of the actuators and the emergence of backlash. This paper proposes a method for constructing a control system for technical objects with automatic backlash compensation. The proposed system uses a PID controller with the quantization of the output signal over time. This allows the use control signals simultaneously also as test signals to determine the amount of backlash. Parameter identification and correction of backlash blocks are introduced into control system, which allows to compensate the influence of uncontrollable backlash.