Backstepping Control for Gear Transmission Servo Systems With Backlash Nonlinearity

Author

Zhiguang Shi ; Zongyu Zuo

Author_Institution

Inst. of Inf. Technol., China Aerosp. Sci. & Ind. Corp., Beijing, China

Volume

12

Issue

2

fYear

2015

fDate

Apr-15

Firstpage

752

Lastpage

757

Abstract

The output tracking problem of gear transmission servo (GTS) systems with backlash nonlinearity is studied in this paper. A new concept-“soft degree”-is proposed to overcome the nondifferentiable “hard” characteristic of the backlash nonlinearity. Furthermore, a detailed softening process-static softening is presented, where a backstepping control algorithm is developed to guarantee that the output of the controlled systems can track any given desired sufficiently smooth trajectory by arbitrary precision and the limit cycles that appear due to backlash nonlinearity can be avoided. Simulation results validate the effectiveness of the proposed controller.

Keywords

gears; power transmission (mechanical); servomechanisms; backlash nonlinearity; backstepping control; gear transmission servosystems; soft degree concept; Adaptation models; Backstepping; Gears; Limit-cycles; Servomotors; Softening; Backlash; backstepping control; gear transmission servo (GTS) systems; limit cycles; soft degree;

fLanguage

English

Journal_Title

Automation Science and Engineering, IEEE Transactions on

Publisher

ieee

ISSN

1545-5955

Type

jour

DOI

10.1109/TASE.2014.2369430

Filename

6967868