In this paper, a fault detection and isolation model based method for backlash phenomenon is presented. The aim of this contribution is to be able to detect then distinguish the undesirable backlash from the useful one inside an electromechanical test bench. The dynamic model of the real system is derived, using the bond graph approach, motivated by the multi-energy domain of such mechatronic s...

This paper proposes a novel fractional order PID controller for torsional system’s backlash vibration suppression control, in which the order k of D controller can not only be integer but also be any real number. Various methods have been proposed for two-inertia system’s speed control, but the control systems designed by these methods may not be able to suppress the vibration caused by gear ba...

the direct torque control (dtc) of interior permanent magnet synchronous motor (ipmsm) offers simple structure and fast torque response. the conventional switching table-based dtc (st-dtc) presents some disadvantages like high torque and flux ripple and also variable switching frequency. this paper investigates the improved st-dtc strategies to reduce both torque and flux ripple in dtc of ipmsm...

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 indep...

A dynamics inversion compensation scheme is designed for control of nonlinear discrete-time systems with input backlash. This paper extends the dynamic inversion technique to discrete-time systems by using a filtered prediction, and shows how to use a neural network (NN) for inverting the backlash nonlinearity in the feedforward path. The technique provides a general procedure for using NN to d...

Here the tactile exploration by an autonomous robot when its joints are corrupted by significant backlash is studied. The motivation is the exploration of junctions in oil wells where the harsh conditions dictate the use of tactile exploration. These conditions also results in large, unknown, and variable backlash in the manipulator’’s transmissions. Here, a method is developed to simultaneousl...

In some systems with hysteresis behavior like Shape Memory Alloy (SMA) actuators and Piezo actuators, we essentially need an accurate modeling of hysteresis either for controller design or performance evaluation. One of the most interesting Hysteresis non-linearity identification methods is Preisach model in which hysteresis is modeled by linear combination of elemental operators. Despite good ...

In this paper, how structure-sensitive parameters derived from the hysteresis loop, like coercive field, remanent induction, and hysteresis losses, can be used to characterise recovery and recrystallization in cold rolled Ti-Nb stabilised interstitial free ultra low carbon steel is shown. The effect on hysteresis measurements of isothermal annealing treatments applied to industrially cold rolle...

A new approach to the design of Model Predictive Controller (MPC) that simultaneously addresses the actuator saturation and backlash is proposed in this paper. The discrete characteristics of the actuator backlash allows one to reformulate the input constraints as a set of mixed integer linear inequalities. As a result, the MPC is designed by solving a Mixed-integer Quadratic Programming proble...

Valve nonlinearities are responsible for producing limit cycles in the loop and consequently decreasing plant performance. In the case of an integrating plant, once the loop oscillation is detected, the engineer should distinguish between stiction and backlash, but no method is available in the literature to address this class of problem. In this paper, it is proposed a data-driven method to di...