A nonsmooth IMC method for mechanical systems with backlash

查看全文 作　　者：Ruili [1]DONG;Yonghong [1]TAN;David [2]HE 机构地区：[1]College of Mechanical and Electronic Technology,Shanghai Normal University;[2]Department of Mechanical and Industrial Engineering University of Illinois at Chicago 出　　处：《控制理论与应用(英文版)》索引2013年第11卷第4期,共8页 基　　金：supported by the National Natural Science Foundation of China(Nos.61203108,61371145,61171088);the projects of the Science and Technology Commission of Shanghai(Nos.10JC1412200,09ZR1423400);the projects of Shanghai Education Commission(Nos.11YZ92,13YZ056) 摘　　要：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 simplifed 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 flters are proposed to guarantee the robust stability and satisfactory control performance of the system. 关 键 词：机械系统 非光滑 MC方法 HAMMERSTEIN 鲁棒稳定性分析 动态补偿器 反冲 机械传动系统