Controlling mechanical systems with backlash - a survey

被引：380

作者：

Nordin, M ^{[1
]}

Gutman, PO

机构：

[1] ABB Proc Ind, Rolling Mills Dept, S-72167 Vasteras, Sweden

[2] Technion Israel Inst Technol, Fac Agr Engn, IL-32000 Haifa, Israel

来源：

AUTOMATICA | 2002年 / 38卷 / 10期

关键词：

backlash compensation; mechanical systems; motor control; describing functions; non-linear control;

D O I：

10.1016/S0005-1098(02)00047-X

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Backlash is one of the most important non-linearities that limit the performance of speed and position control in industrial, robotics, automotive, automation and other applications. The control of systems with backlash has been the subject of study since the 1940s. This survey reveals that surprisingly few control innovations have been presented since the early path breaking papers that introduced the describing function analysis of systems with backlash. Promising developments are however taking place using adaptive and non-linear control strategies. (C) 2002 Elsevier Science Ltd. All rights reserved.

引用

页码：1633 / 1649

页数：17

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