Nonlinear Dynamics

, Volume 84, Issue 4, pp 2363–2375 | Cite as

Backlash identification for PMSM servo system based on relay feedback

  • Yong Han
  • Chao Liu
  • Jianhua WuEmail author
Original Paper


This paper presents a novel method of backlash identification for PMSM servo system based on a relay feedback technique. We develop this method by analyzing the motor velocity signal in time domain under a strong assumption that the speed signal can be viewed as piecewise segments. The proposed approach takes a dead-zone model to describe the backlash and adopts an elastic two-mass model to represent the servo system. In view of response speed and differential noise, the motor velocity has been chosen to be the feedback signal. It should be pointed that particular attention ought to be paid to the choices of the parameters of the delay element and the relay component. This is because undervalued choices may lead to system chaos and thus the failure of identification. Since little knowledge is available about the potential backlash size, the identification procedure is performed iteratively until the identified value converges to its true value. This new strategy only requires one encoder on the motor side, from which the position and speed signals can be acquired. To complete the identification process, however, knowledge of both the motor’s moment of inertia and the load’s moment of inertia is needed. Simulation and experimental results validate that this new strategy is easy and fast to execute with good accuracy.


Backlash identification Servo system Relay feedback Dead-zone model Nonlinearity 



This research was supported in part by National Natural Science Foundation of China under Grant 51575355, National Key Basic Research Program of China under Grant 2013CB035804 and China Postdoctoral Science Foundation under Grant 2015M80325.

Supplementary material

Supplementary material 1 (mp4 43074 KB)


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Copyright information

© Springer Science+Business Media Dordrecht 2016

Authors and Affiliations

  1. 1.State Key Laboratory of Mechanical System and Vibration, School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghaiPeople’s Republic of China

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