Disturbance Rejection Based Robust Control Approach for Servo System with Backlash

Authors

Chongwei Han, 1.Northwest Institute of Mechanical & Electrical Engineering, Xianyang 712099, China; ;
Peng Chao, 2.School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China;
Zhixiang Shi, 1.Northwest Institute of Mechanical & Electrical Engineering, Xianyang 712099, China; ;
Li Zhong, 1.Northwest Institute of Mechanical & Electrical Engineering, Xianyang 712099, China; ;

Abstract

Abstract: With the rapid development of industry and science technology, the control performance requirements for servo system become higher and higher. Aiming at the servo system with backlash, a disturbance rejection based robust control approach is studied, which sees the backlash as external disturbance. It utilizes a disturbance rejection compensator to reduce the adverse effects caused by backlash, a mixed sensitivity based robust feedback controller to enhance the tracking control precision and robustness. The model of the servo system with backlash is built based on the analysis of system structure and work principle. The control principle, the robust disturbance rejection compensator and the mixed sensitivity based robust feedback controller design methods are presented. The simulation experiment results demonstrate the control approach can enhance the control performance of the servo system with backlash effectively.

Recommended Citation

Han, Chongwei; Chao, Peng; Shi, Zhixiang; and Zhong, Li (2019) "Disturbance Rejection Based Robust Control Approach for Servo System with Backlash," Journal of System Simulation: Vol. 30: Iss. 2, Article 39.
DOI: 10.16182/j.issn1004731x.joss.201802039
Available at: https://dc-china-simulation.researchcommons.org/journal/vol30/iss2/39

First Page

691

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.201802039

Last Page

698

CLC

TP273

Recommended Citation

Han Chongwei, Peng Chao, Shi Zhixiang, Li Zhong. Disturbance Rejection Based Robust Control Approach for Servo System with Backlash[J]. Journal of System Simulation, 2018, 30(2): 691-698.

DOI

10.16182/j.issn1004731x.joss.201802039