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Hybrid Estimation for a Mechanical System with Backlash


Thomas Loser

Semester/Bachelor Thesis HS 07

Backlash is a common problem in mechanical systems. It can cause control performance degradation and decrease the life expectancy of the mechanical components. Therefore a benchmark system consisting of a flexible shaft with backlash has been developed at the ETH Zurich. It is used to test and develop hybrid models and control strategies. Recent work contains the identification of this benchmark system, the implementation of a controller as well as the design of a state observer. However, experimental data has returned unsatisfactory results and led to the assumption that the model is not accurate enough. More precisely, one believed that the poor performance was due to an offset between the motor and load sensors. Therefore the observer has been extended by one state taking into account this offset. In this semester thesis, the influence of the observer extension on control performance is investigated in simulations.

Supervisors: Prof. M. Morari, Dr. S. Richter, Dr. T. Besselmann


Type of Publication:

(13)Semester/Bachelor Thesis

M. Morari

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2007:IFA_3169
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