Time domain simulation of a target tracking system with backlash compensation
Summary: This paper presents a model of a target tracking system assembled in a moving body. The system is modeled in time domain as a nonlinear system, which includes dry friction, backlash in gear transmission, control input tensions saturation, and armature current saturation. Time delays usually present in digital controllers are also included, and independent control channels are used for each motor. Their inputs are the targets angular errors with respect to the system axial axis and the outputs are control tensions for the motors. Since backlash in gear transmission may reduce the systems accuracy, its effects should be compensated. For that, backlash compensation blocks are added in the controllers. Each section of this paper contains a literature survey of recent works dealing with the issues discussed in this article.
- Controlling mechanical systems with backlash -- a survey
- Backlash nonlinearity modeling and adaptive controller design for an electromechanical power transmission system
- Adaptive terminal sliding mode control for servo systems with nonlinear compensation
- Modeling and identification of systems with backlash
- Characteristic modeling and control of servo systems with backlash and friction
- Controlling mechanical systems with backlash -- a survey
- Feedback systems: an introduction for scientists and engineers.
- Friction and stick-slip in robots: Simulation and experimentation
- scientific article; zbMATH DE number 1835980 (Why is no real title available?)
- Inertially stabilized platforms for optical imaging systems
- Single state elastoplastic friction models
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