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第36届中国控制会议

作者： Linwei Li Xuemei Ren Minlin Wang Yongfeng Lv School of Automation Beijing Institute of Technology

ISBN: (纸本)9781538629185

The identification and control of sandwich systems are surveyed for the systems which involve backlash nonlinearity. The focus is made on the way of constructing the identification model and the convergence rate of the identification algorithm. Based on a parameterization of backlash, the sandwich system with backlash is constructed as a regression model in which the backlash parameter and linear subsystems parameters are separated by using the key-term separation principle. In order to improve the convergence rate, a multi-innovation least squares algorithm is applied to identify the parameter of the regression equation by modifying the scalar single innovation as multi-innovation matrix. Finally, a traditional PID controller achieves a reference signal tracking based on the result of the parameter estimation.

关键词： Multi-innovation identification PID sandwich system Backlash the key-term separation principle

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A nonsmooth IMC method for mechanical systems with backlash

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控制理论与应用（英文版） 2013年第4期11卷 600-607页

作者： Ruili DONG Yonghong TAN David HE College of Mechanical and Electronic Technology Shanghai Normal University Department of Mechanical and Industrial Engineering University of Illinois at Chicago

This paper proposes a discrete-time nonsmooth internal model control （NSIMC） approach for mechanical transmission systems described by so-called sandwich system with backlash. In this method, a dynamic compensator is introduced to compensate for the effect of the input linear subsystem. Thus, the sandwich systems with backlash can be simplified as a pseudo-Hammerstein system with backlash. The corresponding NSIMC strategy is designed to control this system. The design procedure of the controller is presented based on the analysis on the robust stability by considering the model errors involved with the effect of backlash as well as the compensated error of the input linear subsystem. Moreover, as the model is switched among the different operating zones, the robust filters are proposed to guarantee the robust stability and satisfactory control performance of the system.

关键词： Backlash Internal model control sandwich system Nonsmooth nonlinear systems

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