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Title: Control of mechanical systems with backlash problem
Authors: HU JIAYI
Keywords: backlash control nonlinear experiment position regulation
Issue Date: 1-Mar-2006
Citation: HU JIAYI (2006-03-01). Control of mechanical systems with backlash problem. ScholarBank@NUS Repository.
Abstract: This thesis describes the development of software solutions of backlash problems in mechanical systems. Backlash is common in many components in mechanical and mechatronic systems, such as actuators, sensors and mechanical connections. A typical backlash example is the motion like dead zone due to the gap between gear teeth. This gap leads to degradation of the systema??s performance. Thus from the early days of classical control theory, the backlash nonlinearity has been recognized as one of the factors which severely limit the performance of feedback systems by causing delays, oscillations and inaccuracy. Although many control algorithms were developed to overcome the backlash problem, they can not theoretically ensure the system performance criteria such as rise time and overshoot in position control. They have to tune parameters by trial-and-error, which are time-consuming and highly depend on operatorsa?? experience. We developed a control approach to satisfy the criteria when backlash exists. The effectiveness of this method was illustrated in simulation results. We also evaluated two researchersa?? control algorithms on a real system, a leg of NUS biped, whose motion suffers from backlash in the knee joint. Experiments showed that robust control method was more reliable and had less tracking error. Present works are dependent on a backlash model which do not resemble backlash in real mechanical connection. Future work would study a reliable control algorithm with a more realistic backlash model in mechanical connections such as gear play
Appears in Collections:Master's Theses (Open)

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