| Autor: |
Rodríguez-Liñán, María del Carmen, Heath, William P. |
| Zdroj: |
Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems & Control Engineering; Jul2017, Vol. 231 Issue 6, p471-480, 10p |
| Abstrakt: |
A compensation scheme is proposed for plants subject to both saturation and backlash in series at the actuator. It is shown that the series connection of a backlash inverse, saturation and the backlash itself is equivalent to a saturation function at a different level to the original saturation, and we call this the ‘saturation equivalence’. Therefore, it is proposed to include such a backlash inverse in the compensator. This is shown to be optimal in a sense defined in the article. It is then straightforward to devise a compensator scheme based on traditional anti-windup. This is illustrated in both simulation and on a laboratory scale rig with severe backlash. A correction for the chattering observed in the control signal due to the discontinuous nature of the nonlinearity inverse is also presented. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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