The majority of feedback systems driven by an electric motor can be represented by a two-mass system connected via a flexible drive element. Owing to the presence of backlash, the closed-loop performance such as precision speed, position and force control that can be achieved using a linear time invariant controller is limited, and it is expected that a nonlinear control would be superior. In this paper a nonlinear control structure is proposed and a systematic design technique presented. The advantages of the proposed design technique are: (i) It is robust to plant and backlash uncertainty; (ii) it is quantitative to specifications on the maximum limit cycle amplitude; and (iii) the closed loop is superior to a linear controller design both in lower bandwidth and in lower limit cycle amplitude. A design example is included.
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June 1999
Technical Papers
Reduction of Limit Cycle Amplitude in the Presence of Backlash
Ronen Boneh,
Ronen Boneh
Department of Electrical Engineering-Systems, Tel Aviv University, Tel Aviv 69978, Israel
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Oded Yaniv
Oded Yaniv
Department of Electrical Engineering-Systems, Tel Aviv University, Tel Aviv 69978, Israel
Search for other works by this author on:
Ronen Boneh
Department of Electrical Engineering-Systems, Tel Aviv University, Tel Aviv 69978, Israel
Oded Yaniv
Department of Electrical Engineering-Systems, Tel Aviv University, Tel Aviv 69978, Israel
J. Dyn. Sys., Meas., Control. Jun 1999, 121(2): 278-284 (7 pages)
Published Online: June 1, 1999
Article history
Received:
December 13, 1993
Revised:
February 23, 1999
Online:
December 3, 2007
Citation
Boneh, R., and Yaniv, O. (June 1, 1999). "Reduction of Limit Cycle Amplitude in the Presence of Backlash." ASME. J. Dyn. Sys., Meas., Control. June 1999; 121(2): 278–284. https://doi.org/10.1115/1.2802466
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