Suppression of Adverse Effects of Transmission Clearance in Brushless DC Motor Servo Systems by Switching Compensation*

Dao Zhou, Yunlong Yang, Xiongjun Wu, Biao Liu
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引用次数: 0

Abstract

In conventional servo system with transmission mechanisms, the transmission backlash seems to be an inevitable phenomenon in many applications. Excessive backlash can lead to relative motion between the servo motor and the load, resulting in response delays, instability, and oscillations, consequently causing a decline in the dynamic performance of the system. To mitigate the negative effects of transmission backlash, this paper proposes a model-based backstepping adaptive control algorithm and a switching compensation approach tailored to transmission backlash. A feed-forward control gap compensation method is suggested. Leveraging identified servo system parameter information, this method achieves compensation and suppression of the nonlinearity caused by backlash. The efficacy of the proposed method is verified through theoretical analysis and simulation experiments, which also guaranteed its capability to effectively enhance the tracking accuracy and stability of the servo system while suppressing undesirable phenomena caused by backlash.
通过开关补偿抑制无刷直流电机伺服系统中传动间隙的不良影响*
在带有传动机构的传统伺服系统中,传动反向间隙似乎是许多应用中不可避免的现象。过大的反向间隙会导致伺服电机和负载之间产生相对运动,从而引起响应延迟、不稳定和振荡,进而导致系统动态性能下降。为减轻传动反向间隙的负面影响,本文提出了一种基于模型的反向步进自适应控制算法和一种针对传动反向间隙的开关补偿方法。还提出了一种前馈控制间隙补偿方法。利用已识别的伺服系统参数信息,该方法实现了对反向间隙引起的非线性的补偿和抑制。通过理论分析和仿真实验,验证了所提方法的有效性,也保证了其在抑制反向间隙引起的不良现象的同时,有效提高伺服系统的跟踪精度和稳定性的能力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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