Title :
An auto-tune model predictive control approach for position servo system with backlash
Author :
Chao Peng ; Jianxiao Zou ; Chongwei Han ; Guanghui Zhang
Author_Institution :
Sch. of Autom. Eng., Univ. of Electron. Sci. & Technol. of China, Chengdu, China
Abstract :
Backlash which always exists in gear transmission position servo system, would cause dead-zone error, outputting oscillation, limit cycle and deteriorate system control performance. To enhance the control performance of position servo system with backlash, a novel auto-tune model predictive control approach is proposed in this paper. In this approach, an adjustable linear model predictive controller is designed to guarantee system stability and control performance. An auto tuning strategy is designed according to backlash size, differential of reference signal, and error of actual position control, to reduce the adverse effects caused by backlash. Finally, the effectiveness of the proposed approach is validated by results of simulation experiment.
Keywords :
control system synthesis; gears; linear systems; position control; predictive control; servomechanisms; actual position control error; adjustable linear model predictive controller design; auto-tune model predictive control approach; backlash size; dead-zone error; gear transmission position servo system; limit cycle; outputting oscillation; reference signal differential; system control performance; Gears; Load modeling; Predictive control; Predictive models; Servomotors; Torque; Auto-tuning; Backlash; Model predictive control; position servo system;
Conference_Titel :
Mechatronics and Automation (ICMA), 2015 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4799-7097-1
DOI :
10.1109/ICMA.2015.7237584
