Projection Algorithm-Based Dynamic Surface Control of Dual-Motor Driving Servo System with Backlash Nonlinearity

Haibo ZHAO  Chengguang WANG  

IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences   Vol.E101-A   No.10   pp.1646-1657
Publication Date: 2018/10/01
Online ISSN: 1745-1337
DOI: 10.1587/transfun.E101.A.1646
Type of Manuscript: PAPER
Category: Systems and Control
adaptive control,  dual-motor driving,  dynamic surface control,  projection algorithm,  backlash nonlinearity,  

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Dual-motor driving servo systems are widely used in many military and civil fields. Since backlash nonlinearity affects the dynamic performance and steady-state tracking accuracy of these systems, it is necessary to study a control strategy to reduce its adverse effects. We first establish the state-space model of a system. To facilitate the design of the controller, we simplify the model based on the state-space model. Then, we design an adaptive controller combining a projection algorithm with dynamic surface control applied to a dual-motor driving servo system, which we believe to be the first, and analyze its stability. Simulation results show that projection algorithm-based dynamic surface control has smaller tracking error, faster tracking speed, and better robustness and stability than mere dynamic surface control. Finally, the experimental analysis validates the effectiveness of the proposed control algorithm.