| Abstract |
This paper depicts an implementation of an autotuning controller in a position-controlled system with backlash. The controller operates in three distinguishable phases: linear system parameter identification, backlash identification and invoking a position controller with backlash influence compensation. The influence of nonlinearity was compensated by using a model-based approach. That way, the applicability of a linear full-order state controller, with an additional compensating component of control signal, was extended onto systems with presence of backlash. Compensation method is described in detail in [1], [2]. Considering the fact that system parameters tend to change with time, it was sensible to introduce an autotuning capability to increase the performance of control system. The idea was first tested by means of simulation, followed by experiments on a laboratory model that proved outstanding controller performance. |
