Backlash phenomenon observation and identification

Author

Merzouki, R. ; Davila, J.A. ; Cadiou, J.C. ; Fridman, L.

Author_Institution

LAGIS UMR CNRS 8146, Ecole Polytechnique de Lille, Villeneuve d´´Ascq

fYear

2006

fDate

14-16 June 2006

Abstract

In this paper a second order sliding mode observer with finite time convergence is developed for an electromechanical system with backlash. As consequence of finite time convergence the sliding mode equivalent control is used to apply identification algorithms in order to characterize the backlash phenomenon. The dead zone amplitude and the disturbing torque are identified asymptotically. Simulation and experimental tests applied to an electromechanical actuator are given to support the theoretical development

Keywords

control nonlinearities; convergence; electric actuators; identification; observers; variable structure systems; adaptive identification; backlash phenomenon identification; backlash phenomenon observation; dead zone amplitude; disturbing torque; electromechanical actuator; electromechanical system; finite time convergence; second order sliding mode observer; sliding mode equivalent control; Actuators; Convergence; DC motors; Electromechanical systems; Friction; Linear regression; Mechanical systems; Sliding mode control; Testing; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2006

Conference_Location

Minneapolis, MN

Print_ISBN

1-4244-0209-3

Electronic_ISBN

1-4244-0209-3

Type

conf

DOI

10.1109/ACC.2006.1657231

Filename

1657231