Title :
A New Scheme for a Mechanical Load Position Control Driven by a Permanent Magnet DC Motor and a Nonzero Backlash Gearbox
Author :
Mokhtari, H. ; Barati, F.
Author_Institution :
Dept. of Electr. Eng., Sharif Univ. of Technol., Tehran
Abstract :
In this paper, a new scheme for position control of a mechanical load driven by a permanent magnet DC motor and a gearbox is presented. The gearbox is assumed to have some amount of backlash. The paper derives a model for the backlash nonlinear behavior. It then proposes a new control structure composed of feedback and feed forward control systems. The feedback control system is designed based on zero backlash. The feed forward part is employed to minimize the backlash effects. The new method is evaluated via simulations in MATLAB/SIMULINK environment. Simulations results are provided to show the response of the proposed technique to various input references
Keywords :
DC motor drives; control system synthesis; feedback; feedforward; gears; load regulation; machine control; mechanical variables control; permanent magnet motors; position control; MATLAB; SIMULINK; backlash nonlinear behavior; feed forward control systems; feedback control systems; mechanical load position control; nonzero backlash gearbox; permanent magnet DC motor; Armature; DC motors; Gears; Induction motors; Mathematical model; Optimal control; Position control; Shafts; Torque control; Voltage control;
Conference_Titel :
Industrial Electronics, 2006 IEEE International Symposium on
Conference_Location :
Montreal, Que.
Print_ISBN :
1-4244-0496-7
Electronic_ISBN :
1-4244-0497-5
DOI :
10.1109/ISIE.2006.295889