A Novel Switched Control Strategy for Systems with Backlash

摘要

Abstract Backlash widely exists in various systems, such as machine tools, robots, astronomical telescopes, radars, artilleries, missile launchers. It is an important factor which influences the dynamic and static properties of drive systems. Due to its non-differentiable nature, backlash is difficult to compensate. Especially, in the high-precision drive systems, the backlash is a great challenge. So, it is necessary to study the backlash in the mechanical system. This paper analyzes the model of the mechanical system with backlash. Then, a switched control strategy is introduced to handle backslash. Based on this control method, a novel switched control strategy is proposed. Finally, simulation results show that the proposed novel control strategy can improve the control performance compared with the conventional backslash compensation methods.