Skip to main content
SpringerLink
Log in

A new adaptive control of dual-motor driving servo system with backlash nonlinearity

  • Published:
Sādhanā Aims and scope Submit manuscript

Abstract

In order to weaken the influence of backlash nonlinearity on a dual-motor driving servo system, we first establish the state-space model of the system. We then propose a new adaptive controller combining a projection algorithm with backstepping control for the first time, to the best of our knowledge, and analyze its stability. In the simulation analysis, we respectively choose a triangular wave, sawtooth wave, and random signal as the input signal. Simulation results validate a higher tracking accuracy and stronger adaptability of the proposed control law than that of mere backstepping control. In the experimental tests, we respectively choose a step signal and sine signal and simultaneously apply a white noise signal to the system output after 3 s in each test. The test results validate a stronger adaptability and robustness than that of mere backstepping control.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Figure 1
Figure 2
Figure 3
Figure 4
Figure 5
Figure 6
Figure 7
Figure 8
Figure 9
Figure 10
Figure 11
Figure 12
Figure 13
Figure 14
Figure 15
Figure 16
Figure 17
Figure 18
Figure 19
Figure 20
Figure 21

Similar content being viewed by others

References

  1. Ma Y L, Huang J and Zhang D 2009 Adaptive compensation of backlash nonlinearity for servo systems. J. Syst. Simul. 21: 1498–1504

    Google Scholar 

  2. Moradi H and Salarieh H 2012 Analysis of nonlinear oscillations in spur gear pairs with approximated modelling of backlash nonlinearity. Mech. Mach. Theory. 51: 14–31

    Article  Google Scholar 

  3. Shi Z G and Zuo Z Y 2015 Backstepping control for gear transmission servo systems with backlash nonlinearity. IEEE Trans. Autom. Sci. Eng. 12: 752–757

    Article  Google Scholar 

  4. Mousavi S H, Ranjbar-Sahraei B and Noroozi N 2012 Output feedback controller for hysteretic time-delayed MIMO nonlinear systems: an H-based indirect adaptive interval type-2 fuzzy approach. Nonlinear Dyn. 68: 63–76

    Article  MathSciNet  Google Scholar 

  5. Liu W J, Shyu K K and Hsu K C 2011 Design of uncertain multi-input systems with state delay and input deadzone nonlinearity via sliding mode control. Int. J. Control Autom. Syst. 9: 461–469

    Article  Google Scholar 

  6. Du RH, Wu Y F, Chen W and Chen Q W 2013 Adaptive backstepping fuzzy control for servo systems with backlash. Control Theory Appl. 30: 254–260

    Google Scholar 

  7. Yang S, Fafitis A and Wiezel A 2012 Nonlinear impact model of a tennis racket and a ball. J. Mech. Sci. Technol. 26: 315–321

    Article  Google Scholar 

  8. Tao G and Kokotovic P V 1993 Adaptive control of systems with backlash. Automatica 29: 323–335

    Article  MathSciNet  Google Scholar 

  9. Tao G and Kokotovic P V 1995 Continuous-time adaptive control of systems with unknown backlash. IEEE Trans. Automat. Control 40: 1083–1087

    Article  MathSciNet  Google Scholar 

  10. Su CY et al 2000 Robust adaptive control of a class of nonlinear systems with unknown backlash-like hysteresis. IEEE Trans. Automat. Control 45: 2427–2432

    Article  MathSciNet  Google Scholar 

  11. Zhou J, Zhang C and Wen C 2007 Robust adaptive output control of uncertain nonlinear plants with unknown backlash nonlinearity. IEEE Trans. Automat. Control 52: 503–509

    Article  MathSciNet  Google Scholar 

  12. Guo J, Yao B, Wu Y F and Chen Q W 2010 Adaptive robust control for a class of nonlinear uncertain system with input backlash. Control Decis. 25: 1580–1584

    MathSciNet  Google Scholar 

  13. Jang J O and Jeon G J 2006 Backlash compensation of nonlinear systems using fuzzy logic. Int. J. Syst. Sci. 37: 485–492

    Article  Google Scholar 

  14. Cazarez-Castro N R et al 2010 Fuzzy logic control with genetic membership function parameters optimization for the output regulation of a servomechanism with nonlinear backlash. Expert Syst. Appl. 37: 4368–4378

    Article  Google Scholar 

  15. Selmic R R and Lewis F L 2000 Neural net backlash compensation with Hebbian tuning using dynamic inversion. Automatica 37: 1269–1277

    Article  MathSciNet  Google Scholar 

  16. Zhang DX et al 2008 Neural network sliding mode control approach to backlash and friction compensation. J. Univ. Electr. Sci. Technol. Chin. 37: 793–796

    Google Scholar 

  17. Sun G F 2014 Dynamic surface control for nonlinear systems and the application to servo systems. Doctor’s degree thesis, Beijing Institute of Technology. Beijing City of China

  18. Zhao H B and Zhu Y G 2013 A compensation approach of dead-zone nonlinearity in dual-motor driving servo system. Appl. Mech. Mater. 389: 454–459

    Article  Google Scholar 

  19. Tarbouriech S et al 2014 Stability analysis and stabilization of systems with input backlash. IEEE Trans. Automat. Contr. 59: 488–494

    Article  MathSciNet  Google Scholar 

  20. Guo J et al 2011 Adaptive control of a nonlinear system with input backlash. Acta Armamentarii 32: 1298–1304

    Google Scholar 

  21. Vörös J 2014 Identification of nonlinear dynamic systems with input saturation and output backlash using three-block cascade models. J. Franklin Inst. 351: 5455–5466

    Article  MathSciNet  Google Scholar 

  22. Zhu S et al 2012 Adaptive control of a class of periodically time-varying nonlinear systems with input backlash. Control Theory Appl. 29: 535–538

    Google Scholar 

  23. Hanawa T and Deng M C 2014 Compensation on the uncertain nonlinear plants preceded by uncertain backlash. IEEJ Trans. Electron. Inf. Syst. 134: 1214–1220

    Google Scholar 

  24. Hasanien H M and Muyeen S M 2015 Affine projection algorithm based adaptive control scheme for operation of variable-speed wind generator. IET Gener. Transm. Dis. 9: 2611–2616

    Article  Google Scholar 

  25. Lee K et al 2015 Nonlinear acoustic echo cancellation using a nonlinear postprocessor with a linearly constrained affine projection algorithm. IEEE Trans. Circuits Syst. II Express Briefs. 62: 881–885

    Article  Google Scholar 

  26. Yuan X X 2014 The research of the modeling and control of servo system with large inertia based on multidrive to eliminate backlash. Master’s degree thesis, Nanjing University of Science and Technology. Nanjing City of China

  27. Song J M and Park P G 2015 An optimal variable step-size affine projection algorithm for the modified filtered-x active noise control. Signal Process. 114: 100–111

    Article  Google Scholar 

  28. Zhao H B and Zhou X H 2010 Dual-motor driving servo system based on fuzzy RBF neural network. J. Anhui Univ. Technol. Sci. 25(1): 57–61

    MathSciNet  Google Scholar 

  29. Yadav A K and Gaur P 2014 AI-based adaptive control and design of autopilot system for nonlinear UAV. Sadhana 39: 765–783

    Article  Google Scholar 

  30. Hariprasad K and Bhartiya S 2014 Adaptive robust model predictive control of nonlinear systems using tubes based on interval inclusions. In: Proceedings of the IEEE Conference on Decision and Control. Los Angeles, CA, USA, pp. 2032–2037

  31. Wang J J et al 2016 Successive projections algorithm-based three-band vegetation index for foliar phosphorus estimation. Ecol. Indic. 67: 12–20

    Article  Google Scholar 

  32. Busquets E et al 2015 Discontinuous projection-based adaptiverobust control for displacement-controlled actuators. J. Dyn. Syst. Meas. Control Trans. ASME 137(8): 081007

    Article  Google Scholar 

  33. Teel AR 1993 Adaptive tracking with robust stability. In: Proceedings of the IEEE Conference on Decision and Control San Antonio, TX, USA, Dec. pp. 570–575

Download references

Acknowledgements

This work was supported by the National Natural Science Foundation of China (Grant No. 61074023), the Natural Science Foundation in Anhui Province of China (Grant No. 1508085MF130), the Natural Science Research Key Project of Universities in Anhui Province of China  (Grant   No. KJ2015A297), the Engineering Technology Research Center of Optoelectronic Appliance of Anhui Province, China, and the Sichuan Institute of Aerospace System Engineering of Sichuan Province, China.

Author information

Authors and Affiliations

  1. Engineering Technology Research Center of Optoelectronic Appliance, Tongling, 244061, Anhui Province, People’s Republic of China

    Haibo Zhao

  2. School of Electrical Engineering, Tongling University, Tongling, 244061, Anhui Province, People’s Republic of China

    Haibo Zhao

  3. Sichuan Institute of Aerospace System Engineering, Chengdu, 610100, Sichuan Province, People’s Republic of China

    Chengguang Wang

Authors
  1. Haibo Zhao
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Chengguang Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Haibo Zhao.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Zhao, H., Wang, C. A new adaptive control of dual-motor driving servo system with backlash nonlinearity. Sādhanā 43, 155 (2018). https://doi.org/10.1007/s12046-018-0919-6

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • DOI: https://doi.org/10.1007/s12046-018-0919-6

Keywords

Search

Navigation