A novel approach for modeling and control of servo systems with backlash and friction is proposed based on the characteristic\nmodel. Firstly, to deal with friction-induced nonlinearities, a smooth Stribeck frictionmodel is introduced.Thebacklash is modeled\nby a continuous and derivable mathematical function. Secondly, a characteristic model in the form of a second-order slowly timevarying\ndifference equation is established and verified by simulations. Thirdly, a composite controller including the golden-section\nadaptive control law and the integral control law is designed and the stability of the closed-loop system is analyzed. The simulation\nand experimental results show that the proposed control scheme is effective and can improve the steady-state precision and the\ndynamic performance of the servo system with backlash and friction
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