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Backlash nonlinearity modeling and adaptive controller design for an electromechanical power transmission system

Kalantari, R ; Sharif University of Technology | 2009

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  1. Type of Document: Article
  2. Publisher: 2009
  3. Abstract:
  4. Nonlinearity characteristics, such as backlash, in various mechanisms, limit the performance of feedback systems by causing delays, undesired oscillations and inaccuracy. Backlash influence analysis and modeling is necessary to design a precision controller for this nonlinearity. Backlash between meshing gears in an electromechanical system is modeled by the use of differential equations and a nonlinear spring-damper. According to this model, the paper shows that oscillations and delays cannot be compensated by a state feedback controller. Therefore, an adaptive algorithm is designed, based on different regions of the system angular position error. Since this controller needs an estimation of the backlash value, it is estimated by a learning unit in the adaptive controller. Simulations show that the presented adaptive controller can eliminate backlash oscillations properly, in accordance with previous works. © Sharif University of Technology, December 2009
  5. Keywords:
  6. Adaptive controller ; Backlash nonlinearity ; Adaptive controller design ; Adaptive controllers ; Angular positions ; Backlash nonlinearity ; Electromechanical power transmission systems ; Electromechanical systems ; Estimation and compensation ; Feedback systems ; Influence analysis ; Meshing gears ; Non-Linearity ; Nonlinear springs ; State feedback controller ; Adaptive algorithms ; Controllers ; Differential equations ; Electric power transmission ; Electromechanical devices ; Engineering exhibitions ; Estimation ; Feedback ; Nonlinear equations ; State feedback ; Adaptive control systems ; Algorithm ; Control system ; Design ; Error analysis ; Feedback mechanism ; Nonlinearity ; Numerical model
  7. Source: Scientia Iranica ; Volume 16, Issue 6 B , 2009 , Pages 463-469 ; 10263098 (ISSN)
  8. URL: http://scientiairanica.sharif.edu/article_3137.html