6533b85bfe1ef96bd12bbeb0
RESEARCH PRODUCT
Piecewise Affine (PWA) Modeling and Switched Damping Control of Two-Inertia Systems with Backlash
Michael RudermanHiroshi FujimotoShota Yamadasubject
010302 applied physicsComputer sciencemedia_common.quotation_subjectAttenuation020208 electrical & electronic engineeringControl (management)02 engineering and technologyInertia01 natural sciencesCompensation (engineering)Mechanical systemControl theory0103 physical sciences0202 electrical engineering electronic engineering information engineeringOvershoot (signal)Backlashmedia_commondescription
Backlash degrades positioning accuracy and can induce mechanical wear and breakage by collisions. Therefore, a lot of studies have been conducted on backlash compensation. The simplest control method for the impact attenuation is torsional damping addition by feedback of torsional velocity. This paper reveals the advantages and disadvantages of the torsional damping addition. Based on the analyses, a novel switched damping control is proposed to realize the responses with smaller overshoot while attenuating the impact. The mechanical system and the proposed controller are described as piecewise affine systems for analyses. The performance of the proposed method is compared with a linear damping control method in simulations and experiments.
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2018-03-01 |