Adaptive Backstepping Control of Electrical Transmission Drives with Elastic, Unknown Backlash and Coulomb Friction Nonlinearity
PDF

Keywords

Adaptive control
backstepping
backlash
Coulomb friction
dead-zone
nonlinear systems
stability

Abstract

In this paper, we present a new scheme to design an adaptive controller for uncertain nonlinear systems with unknown backlash, Coulomb friction nonlinearity. The control design is achieved by introducing a smooth approximate backlash model and certain well defined functions and by using backstepping technique. It is shown that the proposed controller can guarantee that the system is global asymptotic stable.

https://doi.org/10.29037/ajstd.305
PDF

References

Miroslav Krstic’, Loannis Kanellakopoulos, Petar Kokotovic’(1995), Nonlinear And Adaptive Control Design, A Wiley – Interscience Publication John Wiley & Sons, Inc. PP 99-103.

Angela Porumb (1997) “Position Control of an Elastic Two-Mass Driving System with Backlash and Friction Using a Sliding Mode Controller”, Mechanics, Automatic and Robotics. Vol.2, No 7, PP 285-290.

I.Schöling, B.Orlik (1999) “Robust Control of a Nonlinear Two-Mass System”, University of Bremen, Germany.

I.Schöling, B.Orlik (2000), “Control of a Nonlinear Two-Mass System with Uncertain Parameters and Unknown States”, University of Bremen, Germany.

Wolfgang Reinelt (2000), “Robust Control of a Two - Mass - Spring System Subject to Its Input Constraints”, Department of Electrical Engineering/ Linköping University, Sweden.

H.G Kwatny, C.Teolis, M.Macttice (2002), “Variable Structure Control of Systems with Uncertain Nonlinear Friction”, Automatica 38, PP 1251-1256.

Danijiel Pavkovic’, Ivan Petrovic’ and Nedjeljko Perie’ (2002) “Fuzzy Model Predictive Control of Electrical Drives with Transmission Elasticity and Backlash”. Automatica, Vol 43 No 1-2, PP 5-11.

Tolgay Kara, Ilyas Eker (2003), “Nonlinear Modeling and Identification of a DC motor for Bidirectional Operation with Real Time Experiments”, Energy Conversion and Management.

Kang-Zhi Liu, Susumu Namiki, Hidekazu Ishii (2003), “Velocity Control of 2-MassSpring Systems with Large Load Uncertainty – An Adaptive Backstepping Control Approach”.Proccedings of the 42nd IEEE, USA.

Adam Lagerberg (2004), Control and Estimation of Automotive Powertrains with Backlash, Chalmers University of Technology, Sweden.

Mats Tallfors (2005), Parameter Estimation and Model Based Control Design of Drive Train Systems, Sweden.

R.M.R. Bruns, J.F.P.B. Diepstraten, X.G.P. Schuurbiers, J.A.G. Wouters (2006), Motion Control of Systems with Backlash, Master team project.

Kозлов Юрий Константинович (2005), Адаптивные электромеханическимые системы стабилизизованого наведения подвижных обьектов с упругими деформациями. ЛЭТИ САНКТ-ПЕТЕРБУРГ. [14] V.Kudin, J.Kolacny, A.Toropov, Ivo Pazdera (2006), “Synthesis of Lathe Cutting Force Stabilization Loop Nonlinear Suboptimal Regulator Taking into Account Nonlinear Elastic Connection”. National Technical University of Ukraine, FEEA.

K.Szavat, T.Orlowska-Kowalska, K.P. Dyrcz (2006), “Extended Kalman Filters in the Control Structure of Two-Mass Drive System”, Wroclaw University of Technology, Poland.

Achim Ilchmann, Hans Schuster (2007), “PI – Funnel Control for Two Mass System”, IEEE Trans. on Automatic Control.

Путов В. В, Шелудько В.Н, Лебедев В.В, Зунг Ч.А, Казаков В.П, Путов А. В, Друян E.B (2007), “Cемейство аналичитеских и интеллектуальных адаптивных систем управлениея нелинейными упругими электромеханическими обьектами”. Мехатроника автоматизация управнение, N10,C.16-24.

Neng-Sheng Pai, Yi-Pin Kuo (2008), “Speed Control for a Two-Mass Drive System Using Integrated Fuzzy Estimator and Hybrid Fuzzy PD/PI Controller”. Journal of Physics: Conference Series 96.

Downloads

Download data is not yet available.