Multi-Axis Servo System Control Design Considering Low-Speed Friction Dynamics
This paper introduces an extended state observer-based command filtered backstepping control method to improve the tracking accuracy and synchronization performance of multi-motor-driving servo systems under the condition of low-speed nonlinear friction dynamics. Firstly, a novel and effective four-...
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-11-01
|
| Series: | Mathematics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2227-7390/12/22/3475 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850267164990242816 |
|---|---|
| author | Huimin Liu Rui Wang |
| author_facet | Huimin Liu Rui Wang |
| author_sort | Huimin Liu |
| collection | DOAJ |
| description | This paper introduces an extended state observer-based command filtered backstepping control method to improve the tracking accuracy and synchronization performance of multi-motor-driving servo systems under the condition of low-speed nonlinear friction dynamics. Firstly, a novel and effective four-motor synchronization scheme is designed and various groups of synchronization feedback signals are introduced to achieve accurate synchronization performance among motors. Then, the observer is designed to estimate the friction torque. And the controller is developed via command filtered backstepping technique to avoid additional computational complexity, making the control signals suitable for practical application. Finally, the stability of the closed-loop system is analyzed, and the tracking and synchronization performance is verified through designed experiments. |
| format | Article |
| id | doaj-art-cadf3eefeb2843bf8cb4b065ec2134b2 |
| institution | OA Journals |
| issn | 2227-7390 |
| language | English |
| publishDate | 2024-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj-art-cadf3eefeb2843bf8cb4b065ec2134b22025-08-20T01:53:54ZengMDPI AGMathematics2227-73902024-11-011222347510.3390/math12223475Multi-Axis Servo System Control Design Considering Low-Speed Friction DynamicsHuimin Liu0Rui Wang1Institute of Automation, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250316, ChinaSchool of Mathematical Sciences, Qufu Normal University, Qufu 273165, ChinaThis paper introduces an extended state observer-based command filtered backstepping control method to improve the tracking accuracy and synchronization performance of multi-motor-driving servo systems under the condition of low-speed nonlinear friction dynamics. Firstly, a novel and effective four-motor synchronization scheme is designed and various groups of synchronization feedback signals are introduced to achieve accurate synchronization performance among motors. Then, the observer is designed to estimate the friction torque. And the controller is developed via command filtered backstepping technique to avoid additional computational complexity, making the control signals suitable for practical application. Finally, the stability of the closed-loop system is analyzed, and the tracking and synchronization performance is verified through designed experiments.https://www.mdpi.com/2227-7390/12/22/3475command filterESO-based backsteppingmulti-motor motion controlnonlinear friction dynamics |
| spellingShingle | Huimin Liu Rui Wang Multi-Axis Servo System Control Design Considering Low-Speed Friction Dynamics Mathematics command filter ESO-based backstepping multi-motor motion control nonlinear friction dynamics |
| title | Multi-Axis Servo System Control Design Considering Low-Speed Friction Dynamics |
| title_full | Multi-Axis Servo System Control Design Considering Low-Speed Friction Dynamics |
| title_fullStr | Multi-Axis Servo System Control Design Considering Low-Speed Friction Dynamics |
| title_full_unstemmed | Multi-Axis Servo System Control Design Considering Low-Speed Friction Dynamics |
| title_short | Multi-Axis Servo System Control Design Considering Low-Speed Friction Dynamics |
| title_sort | multi axis servo system control design considering low speed friction dynamics |
| topic | command filter ESO-based backstepping multi-motor motion control nonlinear friction dynamics |
| url | https://www.mdpi.com/2227-7390/12/22/3475 |
| work_keys_str_mv | AT huiminliu multiaxisservosystemcontroldesignconsideringlowspeedfrictiondynamics AT ruiwang multiaxisservosystemcontroldesignconsideringlowspeedfrictiondynamics |