Paper Info
Title
Piecewise affine (PWA) modeling and switched damping control of two-inertia systems with backlash
Abstract
Backlash degrades positioning accuracy and can induce mechanical wear and breakage by collisions. Therefore, a lot of studies have been conducted on backlash compensation. The simplest control method for the impact attenuation is torsional damping addition by feedback of torsional velocity. This paper reveals the advantages and disadvantages of the torsional damping addition. Based on the analyses, a novel switched damping control is proposed to realize the responses with smaller overshoot while attenuating the impact. The mechanical system and the proposed controller are described as piecewise affine systems for analyses. The performance of the proposed method is compared with a linear damping control method in simulations and experiments.
Year
DOI
Venue
2018
10.1109/AMC.2019.8371140
2018 IEEE 15th International Workshop on Advanced Motion Control (AMC)
Keywords
Field
DocType
Backlash,load-side encoder,piecewise affine system,switching system,two-inertia system
Affine transformation,Control theory,Torsion (mechanics),Backlash,Computer science,Control theory,Overshoot (signal),Inertia,Piecewise,Mechanical system
Conference
ISSN
ISBN
Citations 
1943-6572
978-1-5386-1947-6
0
PageRank 
References 
Authors
0.34
4
3
Name
Order
Citations
PageRank
Shota Yamada19418.10
Michael Ruderman29517.14
Fujimoto, Hiroshi35327.27