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Stabilization of Mechanical Systems with Backlash by PI Loop Shaping

Ahmad Taher Azar, Fernando E. Serrano

Source Title: International Journal of System Dynamics Applications (IJSDA)5(3)

ISSN: 2160-9772|EISSN: 2160-9799|EISBN13: 9781466693609|DOI: 10.4018/IJSDA.2016070102

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MLA

Azar, Ahmad Taher, and Fernando E. Serrano. "Stabilization of Mechanical Systems with Backlash by PI Loop Shaping." IJSDA vol.5, no.3 2016: pp.21-46. http://doi.org/10.4018/IJSDA.2016070102

APA

Azar, A. T. & Serrano, F. E. (2016). Stabilization of Mechanical Systems with Backlash by PI Loop Shaping. International Journal of System Dynamics Applications (IJSDA), 5(3), 21-46. http://doi.org/10.4018/IJSDA.2016070102

Chicago

Azar, Ahmad Taher, and Fernando E. Serrano. "Stabilization of Mechanical Systems with Backlash by PI Loop Shaping," International Journal of System Dynamics Applications (IJSDA) 5, no.3: 21-46. http://doi.org/10.4018/IJSDA.2016070102

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Abstract

Backlash is one of several discontinuities found in different kinds of systems, it can be found in actuators of different types, such as mechanical and hydraulic, giving way to unwanted effects in the system behavior. PI loop shaping control design implementing a describing function to find the limit cycle oscillations and the appropriate control gain is developed. Therefore a frequency domain approach is implemented for the control of nonlinear system of any kind such as robotics, mechatronics, other kind of mechanisms, electrical motors etc. Finally, in order to corroborate the theoretical background explained in this article, the stabilization of a cart-pendulum system with the proposed control strategy is shown.

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Stabilization of Mechanical Systems with Backlash by PI Loop Shaping

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