Abstract
For two-inertia servo mechanisms, the high order, backlash nonlinearity and external disturbance make the precise modeling and control difficult to implement. This article provides an easily implemented modeling and control strategy to deal with this problem. A characteristic modeling framework of disturbed nonlinear systems is proposed. To restrain the modeling error, the backlash nonlinearity and torque disturbance are observed by constructing a finite-time extended state observer (FESO) based on homogeneity properties and then the compensation action can be taken. Based on the compensated system, the discrete-time characteristic model is established using the sampled input-output data, which degrades the modeling complicacy. To estimate the model parameters, an adaptation law with projection algorithm is proposed using the tracking error and the estimation error as the excitation signal. A discrete-time second-order fast terminal sliding-mode control (DSFTSC) is proposed based on the characteristic model to stabilize the whole system, where an improved reaching law is designed to enhance the rapidity and weaken the chattering and the utilization of the fast terminal switching surface also speeds up the regression rate and decreases the tracking error. Finally, the effectiveness of the characteristic modeling, the adaptive law and the control scheme is validated by simulations in Matlab and experiments in a practical test rig, respectively.
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This work was funded by the Major Project of Natural Science Research in Universities of Jiangsu Province (Grant No. 23KJA510003), the Six Talent Peaks Project in Jiangsu Province (Grant No. GDZB-027) and the NJIT Research Fund (Grant No. YKJ202110).
Xiang Wang received his B.S. degree in electrical engineering and automation and a Ph.D. degree in control science and engineering at Nanjing University of Science and Technology, Nanjing, China, in 2013 and 2020, respectively. He is currently a Lecturer at the School of Automation, Nanjing Institute of Technology, Nanjing, China. His research interests include servo system, system identification, and nonlinear control.
Hanzhong Liu received his M.S. degree in mechanical and electronic engineering at Nanjing University of Science and Technology, Nanjing, China, in 2004. He was a visiting scholar at Hong Kong University of Science and Technology, Hong Kong, China, in 2019. He is currently a Professor at the School of Automation, Nanjing Institute of Technology, Nanjing, China. His research interests include motion control, robotic control, fault diagnosis, and health monitoring.
Jiali Ma received his B.Sc. degree in automation and a Ph.D. degree in control science and engineering at Nanjing University of Science and Technology, Nanjing, China, in 2015 and 2020, respectively. He is currently a Professor at the School of Automation, Nanjing University of Science and Technology, Nanjing, China. His research interests include nonlinear systems, multi-agent system control, and neural network control.
Yang Gao received his B.Sc. degree in automation and a Ph.D. degree in control science and engineering at Nanjing University of Science and Technology, Nanjing, China, in 2015 and 2021, respectively. He is currently a Postdoctor at the School of Automation, Nanjing University of Science and Technology, Nanjing, China. His research interests include adaptive control, servo system, and fault tolerant control.
Yifei Wu received his Ph.D. degree in control science and engineering at Nanjing University of Science and Technology, Nanjing, China, in 2014. He is currently an Associate Professor at the School of Automation, Nanjing University of Science and Technology, Nanjing, China. His research interests include servo system and ultra high speed motor control.
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Wang, X., Liu, H., Ma, J. et al. Compensation-based Characteristic Modeling and Tracking Control for Electromechanical Servo Systems With Backlash and Torque Disturbance. Int. J. Control Autom. Syst. 22, 1869–1882 (2024). https://doi.org/10.1007/s12555-022-0643-1
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DOI: https://doi.org/10.1007/s12555-022-0643-1