Backlash identification for PMSM servo system based on relay feedback
- 475 Downloads
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.
KeywordsBacklash 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 1 (mp4 43074 KB)
- 1.Brouri, A., Giri, F., Rochdi, Y., Chaoui, F.Z.: Frequency identification of nonparametric Hammerstein systems with backlash nonlinearity. In: American Control Conference (ACC). Proceedings of the American Control Conference, pp. 657–662. IEEE, New York (2011)Google Scholar
- 6.Gebler, D., Holtz, J.: Identification and compensation of gear backlash without output position sensor in high-precision servo systems. In: IEEE Industrial Electronics Society, Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society, pp. 662–666. AACHEN, GERMANY (1998)Google Scholar
- 8.Jukic, T., Peric, N.: Model based backlash compensation. American Control Conference (ACC). In: Proceedings of the American Control Conference, pp. 775–780. IEEE, New York (2001)Google Scholar
- 11.Liu, J., Wu, J.H., Xiong, Z.H., Zhu, X.Y.: Servo system identification using relay feedback: A time-domain approach. J. Manuf. Sci. Eng. ASME 134(6), 061012 (2012)Google Scholar
- 16.Pupeikis, R.: On recursive parametric identification of wiener systems. Inf. Technol. Control 40(1), 21–28 (2011)Google Scholar
- 18.Sander-Tavallaey, S., Saarinen, K.: Backlash identification in transmission unit. In: IEEE International Conference on Control Applications/International Symposium on Intelligent Control. IEEE International Conference on Control Applications, pp. 1325–1331. IEEE, New York (2009)Google Scholar
- 21.Tan, K.K., Lee, T.H., Huang, S.N., Xi, J.: Friction modeling and adaptive compensation using a relay feedback approach. IEEE Trans. Ind. Electron. 48(1), 169–176 (2001)Google Scholar
- 24.Voros, J.: Modeling and identification of nonlinear cascade and sandwich systems with general backlash. J. Electr. Eng. Slovak. 65(2), 104–110 (2014)Google Scholar
- 29.Wu, Y.F., Wang, Z.H., Li, Y.Y., Chen, W., Du, R.H., Chen, Q.W.: Characteristic modeling and control of servo systems with backlash and friction. Math. Pro. Eng. 2014, 328–450 (2014)Google Scholar