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Identification and control of a mechanical system with backlash

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Abstract:
Backlash in mechanical systems can result in severe control performance degradation. To study these effects a laboratory system with backlash had been constructed at the Automatic Control Laboratory. The objective of this semester project was to revise an existing model of this system to improve the overall performance. The details of the actuators were discussed. As Coulomb friction is not negligible in the system this effect was also considered. The system was then identified using a linear identification method. To test the accuracy of the model for control applications, an optimal controller was designed. Tests showed significant improvements over the old model. The model as well as the controller are be available online at the IfA HYCON benchmark site:

~ backlash
Type of Seminar:
IfA Seminar
Speaker:
Felix Althaus
Date/Time:
Apr 05, 2007   11.00 am
Location:

ETL K 25
Contact Person:

Thomas Besselmann
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Biographical Sketch: