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Identification and control of a mechanical system with backlash


Felix Althaus

Semester/Bachelor Thesis, WS 06/07

Backlash is a common problem in mechanical systems causing control performance degra- dation and lower durability of the components. Therefore control of systems with backlash is a topic well studied by the control community. At the ETH Zurich, the theory of hybrid systems was recently applied to mechanical systems with backlash. A benchmark system consisting of a flexible shaft with backlash provides experimental facilities to test and develop hybrid models and control strategies. This report describes the modeling and identification of this benchmark system. As prior research has shown, Coulomb friction can not be neglected in this system, so it is treated in detail, resulting in an improved model. To test the applicability of the model and to demonstrate control of the backlash system a LQ controller with switched observer is designed and tested. Supervisors: T. Besselmann, P. Rostalski, Prof. M. Morari


Type of Publication:

(13)Semester/Bachelor Thesis

M. Morari

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2007:IFA_2884
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