TY - JOUR
T1 - Synchronization and tracking control for multi-motor driving servo systems with backlash and friction
AU - Zhao, Wei
AU - Ren, Xuemei
AU - Gao, Xuehui
N1 - Publisher Copyright:
© 2015 John Wiley & Sons, Ltd.
PY - 2016/9/10
Y1 - 2016/9/10
N2 - This paper presents a novel switching controller incorporated with backlash and friction compensations, which is utilized to achieve speed synchronization among multi-motor and load position tracking. The proposed controller consists of two parts: synchronization and tracking control in contact mode and robust control in backlash mode, where a function characterizing whether backlash occurs is used for switching between two modes. Using the proposed switching controller, several control objectives are achieved. Firstly, the coupling problem of speed synchronization and load tracking in contact mode is addressed by introducing a switching plane. Secondly, based on the switching plane, an improved prescribed performance function is introduced to attain load tracking with prescribed performances, and L∞ performance of speed synchronization is guaranteed by initialization method, maintaining the transient performance of synchronization behavior. Thirdly, the lumped uncertain nonlinearity including friction and other uncertain functions is compensated by Chebyshev neural network in contact mode. Furthermore, a robust control is adopted in backlash mode to make system traverse backlash at an exponential rate and simultaneously eliminate low-speed crawling phenomenon of LuGre friction. Finally, comparative simulations on four-motor driving servo system are provided to verify the effectiveness and reliability.
AB - This paper presents a novel switching controller incorporated with backlash and friction compensations, which is utilized to achieve speed synchronization among multi-motor and load position tracking. The proposed controller consists of two parts: synchronization and tracking control in contact mode and robust control in backlash mode, where a function characterizing whether backlash occurs is used for switching between two modes. Using the proposed switching controller, several control objectives are achieved. Firstly, the coupling problem of speed synchronization and load tracking in contact mode is addressed by introducing a switching plane. Secondly, based on the switching plane, an improved prescribed performance function is introduced to attain load tracking with prescribed performances, and L∞ performance of speed synchronization is guaranteed by initialization method, maintaining the transient performance of synchronization behavior. Thirdly, the lumped uncertain nonlinearity including friction and other uncertain functions is compensated by Chebyshev neural network in contact mode. Furthermore, a robust control is adopted in backlash mode to make system traverse backlash at an exponential rate and simultaneously eliminate low-speed crawling phenomenon of LuGre friction. Finally, comparative simulations on four-motor driving servo system are provided to verify the effectiveness and reliability.
KW - backlash and friction compensations
KW - multi-motor driving servo systems
KW - neural networks
KW - synchronization control
KW - tracking control
UR - http://www.scopus.com/inward/record.url?scp=84949032345&partnerID=8YFLogxK
U2 - 10.1002/rnc.3470
DO - 10.1002/rnc.3470
M3 - Article
AN - SCOPUS:84949032345
SN - 1049-8923
VL - 26
SP - 2745
EP - 2766
JO - International Journal of Robust and Nonlinear Control
JF - International Journal of Robust and Nonlinear Control
IS - 13
ER -