scholarly journals Variable gain switching exact differential observer‐based compensation control for servo system with backlash

2021 ◽  
Author(s):  
Guofa Sun ◽  
Yaming Xu ◽  
Yan Wang ◽  
Gang Wang
Keyword(s):  
Servo System ◽  
Variable Gain ◽  
Compensation Control ◽  
Gain Switching

scholarly journals Evolutionary Algorithm-Based Friction Feedforward Compensation for a Pneumatic Rotary Actuator Servo System

2018 ◽  
Vol 8 (9) ◽  
pp. 1623 ◽  
Author(s):  
Ke Li ◽  
Yeming Zhang ◽  
Shaoliang Wei ◽  
Hongwei Yue
Keyword(s):  
Differential Evolution ◽  
Evolutionary Algorithm ◽  
Differential Evolution Algorithm ◽  
Servo System ◽  
Control Architecture ◽  
Tracking Accuracy ◽  
Pd Control ◽  
Compensation Control ◽  
Position Accuracy ◽  
Rotary Actuator

The friction interference in the pneumatic rotary actuator is the primary factor affecting the position accuracy of a pneumatic rotary actuator servo system. The paper proposes an evolutionary algorithm-based friction-forward compensation control architecture for improving position accuracy. Firstly, the basic equations of the valve-controlled actuator are derived and linearized in the middle position, and the transfer function of the system is further obtained. Then, the evolutionary algorithm-based friction feedforward compensation control architecture is structured, including that the evolutionary algorithm is used to optimize the controller coefficients and identify the friction parameters. Finally, the contrast experiments of four control strategies (the traditional PD control, the PD control with friction feedforward compensation without evolutionary algorithm tuning, the PD control with friction feedforward compensation based on the differential evolution algorithm, and the PD control with friction feedforward compensation based on the genetic algorithm) are carried out on the experimental platform. The experimental results reveal that the evolutionary algorithm-based friction feedforward compensation greatly improves the position tracking accuracy and positioning accuracy, and that the differential evolution-based case achieves better accuracy. Also, the system with the friction feedforward compensation still maintains high accuracy and strong stability in the case of load.

A Compensation Approach of Dead-Zone Nonlinearity in Dual-Motor Driving Servo System

2013 ◽  
Vol 389 ◽  
pp. 454-459 ◽  
Author(s):  
Hai Bo Zhao ◽  
Yun Guo Zhu
Keyword(s):  
Nonlinear System ◽  
Control Strategy ◽  
Dead Zone ◽  
Servo System ◽  
Step Response ◽  
Describing Function ◽  
Simulation Experiments ◽  
Compensation Control ◽  
Compensation Approach ◽  
The Impact

Aiming at the control problem of dual-motor driving servo system with dead-zone nonlinearity,we proposed the model of system linear part.We used describing function methods to analyze dead-zone nonlinearity characteristic.The simulation experiments of nonlinear system with dead-zone were carried out.The results of simulation show that system represents the phenomenon of zero deflection with step response,error curve exists peak at commutation time with sine response.In the end,we used compensation control strategy to weaken the impact of dead-zone nonlinearity on dual-motor driving servo system.Finally the simulation illustrates the effectiveness of the proposed compensation control strategy.

Decoupling Compensation Using in the Hydraulic-Servo System of Mould

2012 ◽  
Vol 184-185 ◽  
pp. 1526-1532 ◽  
Author(s):  
Liang Li ◽  
Xiong Zhou ◽  
Xiao Gang Deng
Keyword(s):  
Hydraulic System ◽  
Servo System ◽  
Mutual Interference ◽  
Two Dimensional ◽  
The Real ◽  
Compensation Control ◽  
Hydraulic Servo ◽  
System Output ◽  
Hydraulic Servo System ◽  
And Control

The hydraulic-servo system of mould is a typical two-dimensional hydraulic-servo system, what stored among pass way was handed in and uniting interfering with between every pass way of the system. Because of the connection of the load system, output and control of every pass way influencing each other, cause the coupling of load, influence the system, even cause the systematic instability. This text apply on coupling and decoupling principle, mutual interference problem of many pass way that exists in the hydraulic system of mould, is studied by decoupling compensation control. Through the theory pushing over, we bring forward the decoupling compensation method, which can solve mutual interference problem. Have verified the feasibility of this method in the real artificial experiment too, and can solve mutual interference problem in the hydraulic and systematic of mould effectively.

scholarly journals Robust Dual-Channel Disturbance Rejection Attitude Control for a Quadrotor UAV: Theory and Experiment

2021 ◽  
Author(s):  
Jian Pan ◽  
Jiaxin Xiong
Keyword(s):  
Dynamic Model ◽  
Attitude Control ◽  
Disturbance Rejection ◽  
Lyapunov Theory ◽  
Outer Loop ◽  
Variable Gain ◽  
Dual Channel ◽  
Gain Switching ◽  
Modeling Uncertainties ◽  
Attitude Dynamic

Abstract In this paper, a robust dual-channel disturbance rejection control based on an inner-outer loop control framework is proposed for the attitude control of the quadrotor under modeling uncertainties and unknown disturbances. In the outer loop, a tracking differentiator is introduced to obtain smooth tracking signals and their derivatives. In addition, an outer loop controller is developed with the tracking signals set as the desired signals. In the inner loop, a robust dual-channel disturbance rejection controller based on a sliding mode observer is constructed, which contains an inner disturbance rejection channel (IDRC) and an outer disturbance rejection channel (ODRC). In the IDRC, a disturbance rejection compensator is designed to obtain the disturbance compensation values and to compensate a part of the lumped disturbances in the attitude dynamic model. In the ODRC, an inner loop controller with variable-gain switching terms and constant-gain switching terms is designed, whose switching terms are used to compensate the remaining part of the lumped disturbances in the attitude dynamic model. By using the proposed control scheme, the robustness is guaranteed, and the chattering phenomenon caused by the variable-gain switching terms is greatly reduced. The stability of the proposed scheme is analyzed by using the Lyapunov theory. Finally, the effectiveness is tested by the platform experiments.

Current compensation control for low-cost servo system

2014 ◽  
Vol 228 (9) ◽  
pp. 715-721
Author(s):  
Bao Song ◽  
Tianhang Cheng ◽  
Xiaoqi Tang ◽  
Shiqi Zheng ◽  
Shaowu Lu
Keyword(s):  
Low Cost ◽  
Servo System ◽  
Current Compensation ◽  
Compensation Control

A Compensation Approach of Backlash Nonlinearity in Dual-Motor Driving Servo System

2013 ◽  
Vol 389 ◽  
pp. 448-453
Author(s):  
Hai Bo Zhao ◽  
Yun Guo Zhu
Keyword(s):  
Control Strategy ◽  
Linear Part ◽  
Servo System ◽  
Step Response ◽  
Compensation Control ◽  
Speed Tracking ◽  
Compensation Approach ◽  
The Impact ◽  
Backlash Nonlinearity ◽  
Nonlinearity Characteristic

Aiming at the control problem of dual-motor driving servo system with backlash nonlinearity, we proposed the model of system linear part. We used describing function methods to analyze backlash nonlinearity characteristic. The simulation experiments of nonlinear system with backlash were carried out. The results of simulation show that system represents residual self-oscillation with step response, nonstationarity with low speed tracking and error abrupt change produced by sinusoidal tracking reversing. In the end, we used compensation control strategy to weaken the impact of backlash nonlinearity on dual-motor driving servo system. Finally the simulation illustrates the effectiveness of the proposed compensation control strategy.

Sign in / Sign up

Export Citation Format

Share Document