On the control algorithm of nonlinear systems with backlash
On the control algorithm of nonlinear systems with backlash
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DOI：
10.1109/icicip.2013.6568119
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发表时间：
2013-06
期刊：
影响因子：
--
通讯作者：
G. Sun;Ce Ding
中科院分区：
文献类型：
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作者：
G. Sun;Ce Ding
本文分析了球板系统伺服控制环节的迟滞特性，提出了逆模型补偿迟滞非线性伺服控制环节。为克服外部干扰或其他因素造成的反演模型参数与滞后非线性模型参数不匹配的缺点，设计了梯度投影自适应法在线更新反演模型参数。仿真和实验结果表明，所设计的补偿控制算法削弱了伺服控制的迟滞非线性，提高了球板系统的控制精度。
This paper analyzes the ball and plate system servo control links hysteresis characteristics, inverse model compensation hysteresis nonlinear servo control part. To overcome the disadvantages of external interference or other factors cause the inverse model parameters, and hysteresis of the nonlinear model parameters do not match, designing the gradient projection adaptive law online up-date inverse model parameters. Simulation and experimental results show that the designed compensation control algorithm weakened the hysteresis nonlinearity for servo control to improve the control accuracy of ball and plate system.