Original scientific paper

https://doi.org/10.7305/automatika.2016.01.1038

Robust Adaptive Control for a DC Servomotor with wide Backlash Nonlinearity

Oscar Salas-Peña orcid.org/0000-0003-3545-9455 ; Faculty of Mechanical and Electrical Engineering, Department of Mechatronics Engineering, Universidad Autónoma de Nuevo León, San Nicolás de Los Garza, 66451, Mexico
Herman Castañeda orcid.org/0000-0002-2432-7740 ; Faculty of Mechanical and Electrical Engineering, Department of Electrical Engineering, Universidad Autónoma de Nuevo León, San Nicolás de Los Garza, 66451, Mexico
Jesús de León-Morales ; Faculty of Mechanical and Electrical Engineering, Department of Electrical Engineering, Universidad Autónoma de Nuevo León, San Nicolás de Los Garza, 66451, Mexico

Abstract

In this paper, the problem of driving angular position of a direct current servomotor system with unmodeled wide backlash nonlinearity is addressed. In order to tackle this problem, a control scheme based on an adaptive super twisting algorithm is proposed. In order to implement the proposed controller, information about angular velocity is estimated by means of a robust differentiator. Based on a simplified model of the system, the proposed scheme increases robustness against unmodeled dynamics as backlash, as not all the parameters of the system nor the bounds of the perturbations are required to be known. Experimental results considering a wide backlash angle near to 2*PI, illustrate the feasibility and performance of the proposed control methodology.

Keywords

Robust control; Adaptive control; Servomotor; Backlash nonlinearity

Hrčak ID:

154032

URI

https://hrcak.srce.hr/154032

Publication date:

19.2.2016.

Article data in other languages: croatian

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