Model based backlash compensation

In this paper it was experimentally proven that defining the model of backlash allows for compensation of backlash influence by adding a compensation component into control signal. Initially, algebra of blocks was used to obtain a more suitable representation of a servosystem with backlash in transmission elements. After having the system modeled in such a way, it was plausible to assume (this was confirmed by simulation) that the influence of backlash in a nonlinear system could be substituted with an additional component of control signal entering a linear system. Vice versa, incorporating that signal with the opposite sign into a nonlinear control system would result in lowering or complete elimination of backlash influence. Excellent system behavior was experimentally verified on a laboratory model, when proposed control concept was utilized.