Nonlinear speed control of elastic systems with backlash
Nonlinear speed control of elastic systems with backlash
复制标题
具有间隙的弹性系统的非线性速度控制
DOI：
10.1109/cdc.2000.912350
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发表时间：
2000
期刊：
影响因子：
--
通讯作者：
P. Gutman
中科院分区：
文献类型：
--
作者：
M. Nordin;P. Gutman
弹性系统中的间隙是影响工业传动速度控制性能的最重要的非线性因素之一。本文提出了一种新的鲁棒非线性速度控制器。设计了两个线性控制器，一个全局稳定，性能降低，一个高性能，在间隙周围表现出极限环。这两个控制器结合成一个高性能、稳定的非线性软开关控制器。通过对实际大型驱动系统的仿真和测量，证明了该控制器的优越性。
Backlash in elastic systems is one of the most important nonlinearities that limits the performance of speed control in industrial drives. In this work a new robust nonlinear speed controller for such system is proposed. Two linear controllers are designed, one globally stable with reduced performance, and one with high performance exhibiting limit cycles around the backlash. The two controllers are combined into one high performance, stable nonlinear controller with soft switching. The advantage of the new controller is shown with simulations and measurements on a large real life drive system.