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Nonlinear Integral Compensation of a Velocity-Lag Servomechanism With Backlash

1957; ASM International; Volume: 79; Issue: 3 Linguagem: Inglês

10.1115/1.4013104

0097-6822

Cindy Shen, Harvey A. Miller, Nathaniel Nichols,

Sensorless Control of Electric Motors

Abstract When backlash is encountered in a velocity-lag servomechanism, the system may become unstable. The loop-gain limitation imposed is becoming unacceptable with increasing requirements for following steep ramp inputs as in certain machine-tool control applications. Integral compensation is not applicable since, with backlash, oscillations result. This paper analyzes an attempt to overcome this difficulty by intentionally incorporating a second nonlinearity, a dead zone in the input to the integrator. Results are given which allow the approximate transient response of certain systems to be obtained quickly and the question of stability is considered. Finally, an example of its application is given along with a discussion of several practical factors involved.