DocumentCode :
2427687
Title :
A New Compensation Technique for Backlash in Position Control Systems with Elasticity
Author :
Mohan, M. Anand
Author_Institution :
Dept. of Electr. Eng., Tuskegee Univ., AL
fYear :
2007
fDate :
4-6 March 2007
Firstpage :
244
Lastpage :
248
Abstract :
The presence of backlash causes steady state accuracy and stability problems in position and speed control systems. Switched and inverse nonlinear controllers have been suggested in the past to deal with these problems. The present paper proposes a simple linear controller to compensate for backlash in a two-mass elastic system. The efficacy of the new controller is demonstrated by simulations using the exact mathematical model of backlash recently proposed in the literature.
Keywords :
compensation; control nonlinearities; position control; stability; backlash compensation; elasticity; inverse nonlinear controller; linear controller; nonlinear systems; position control systems; stability; switched controller; Control systems; Elasticity; Feedback loop; Limit-cycles; Mathematical model; Position control; Stability; State feedback; Steady-state; Velocity control; Backlash compensation; nonlinear systems; position control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
System Theory, 2007. SSST '07. Thirty-Ninth Southeastern Symposium on
Conference_Location :
Macon, GA
ISSN :
0094-2898
Print_ISBN :
1-4244-1126-2
Electronic_ISBN :
0094-2898
Type :
conf
DOI :
10.1109/SSST.2007.352357
Filename :
4160843
Link To Document :
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