Backlash phenomenon observation and identification
Backlash phenomenon observation and identification
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DOI：
10.1109/acc.2006.1657231
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发表时间：
2006-06
期刊：
影响因子：
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通讯作者：
R. Merzouki;J. Dávila;J. Cadiou;L. Fridman
中科院分区：
文献类型：
--
作者：
R. Merzouki;J. Dávila;J. Cadiou;L. Fridman
针对具有间隙的机电系统，提出了一种有限时间收敛的二阶滑模观测器。利用有限时间收敛的结果，利用滑模等效控制应用识别算法来表征间隙现象。渐近地识别出了死区幅值和扰动力矩。为支持理论的发展，给出了机电致动器的仿真和实验测试
In this paper a second order sliding mode observer with finite time convergence is developed for an electromechanical system with backlash. As consequence of finite time convergence the sliding mode equivalent control is used to apply identification algorithms in order to characterize the backlash phenomenon. The dead zone amplitude and the disturbing torque are identified asymptotically. Simulation and experimental tests applied to an electromechanical actuator are given to support the theoretical development