Welcome to the InfoSci Platform
Stabilization and Control of Mechanical Systems with Backlash

Stabilization and Control of Mechanical Systems with Backlash

Ahmad Taher Azar, Fernando E. Serrano
Copyright: © 2017 |Pages: 61
ISBN13: 9781522517597|ISBN10: 1522517596|EISBN13: 9781522517603
DOI: 10.4018/978-1-5225-1759-7.ch057
Cite Chapter Cite Chapter

MLA

Azar, Ahmad Taher, and Fernando E. Serrano. "Stabilization and Control of Mechanical Systems with Backlash." Artificial Intelligence: Concepts, Methodologies, Tools, and Applications, edited by Information Resources Management Association, IGI Global, 2017, pp. 1379-1439. https://doi.org/10.4018/978-1-5225-1759-7.ch057

APA

Azar, A. T. & Serrano, F. E. (2017). Stabilization and Control of Mechanical Systems with Backlash. In I. Management Association (Ed.), Artificial Intelligence: Concepts, Methodologies, Tools, and Applications (pp. 1379-1439). IGI Global. https://doi.org/10.4018/978-1-5225-1759-7.ch057

Chicago

Azar, Ahmad Taher, and Fernando E. Serrano. "Stabilization and Control of Mechanical Systems with Backlash." In Artificial Intelligence: Concepts, Methodologies, Tools, and Applications, edited by Information Resources Management Association, 1379-1439. Hershey, PA: IGI Global, 2017. https://doi.org/10.4018/978-1-5225-1759-7.ch057

Export Reference

Mendeley
Favorite

Abstract

Backlash is one of several discontinuities found in different kinds of systems; it can be found in actuators of different types, such as mechanical and hydraulic, giving way to unwanted effects in the system behavior. In this chapter, three different control approaches are derived to stabilize mechanical systems in which this phenomenon is present in the actuators of the system. First, an independent joint control approach when backlash is found in the actuators is derived; then a PI loop shaping control design implementing a describing function to find the limit cycle oscillations and the appropriate control gain is developed. Finally, an optimal controller for mechanical systems with backlash is derived, obtaining the optimal control law and oscillations frequency when this nonlinearity is found implementing a describing function to model the backlash effects.

Request Access

You do not own this content. Please login to recommend this title to your institution's librarian or purchase it from the IGI Global bookstore.