Details
| Original language | English |
|---|---|
| Title of host publication | ICINCO 2020 - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics |
| Editors | Oleg Gusikhin, Kurosh Madani, Janan Zaytoon |
| Pages | 576-584 |
| Number of pages | 9 |
| ISBN (electronic) | 9789897584428 |
| Publication status | Published - 7 Jul 2020 |
Abstract
In electromechanical motion systems performance measures such as positioning accuracy, dynamic stiffness and control bandwidth are severely limited by backlash. Several control schemes based on backlash compensation or switching control of hybrid systems are known, but many of these approaches require the exact backlash width as an input parameter. Several existing approaches for backlash identification are limited in accuracy because the load-side velocity is required but it is not directly measurable. In this paper a method for backlash identification tailored to electromechanical motion systems with rotary motor and translationally moving load is proposed. A mobile sensor board with inertial measurement unit (IMU) is mounted temporarily on the load and serves to acquire the accelerations during the experiment. The connection to the host-PC is wireless, time synchronisation is not required. It is shown in experiments on a testbed with an adjustable backlash coupling but otherwise industry-like equipment that high accuracies can be achieved.
Keywords
- Accelerometer, Backlash identification, Electric drives, Electric power trains
ASJC Scopus subject areas
- Computer Science(all)
- Information Systems
- Engineering(all)
- Control and Systems Engineering
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ICINCO 2020 - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics. ed. / Oleg Gusikhin; Kurosh Madani; Janan Zaytoon. 2020. p. 576-584.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Backlash Identification in Industrial Positioning Systems aided by a Mobile Accelerometer Board with Wi-Fi
AU - Tantau, Mathias
AU - Perner, Lars
AU - Wielitzka, Mark
AU - Ortmaier, Tobias
N1 - Funding information: This work was sponsored by the AiF (Arbeits-gemeinschaft industrieller Forschungsvereinigungen Otto von Guericke e.V.) and managed by the FVA (Forschungsvereinigung Antriebstechnik e.V.) both in Germany.
PY - 2020/7/7
Y1 - 2020/7/7
N2 - In electromechanical motion systems performance measures such as positioning accuracy, dynamic stiffness and control bandwidth are severely limited by backlash. Several control schemes based on backlash compensation or switching control of hybrid systems are known, but many of these approaches require the exact backlash width as an input parameter. Several existing approaches for backlash identification are limited in accuracy because the load-side velocity is required but it is not directly measurable. In this paper a method for backlash identification tailored to electromechanical motion systems with rotary motor and translationally moving load is proposed. A mobile sensor board with inertial measurement unit (IMU) is mounted temporarily on the load and serves to acquire the accelerations during the experiment. The connection to the host-PC is wireless, time synchronisation is not required. It is shown in experiments on a testbed with an adjustable backlash coupling but otherwise industry-like equipment that high accuracies can be achieved.
AB - In electromechanical motion systems performance measures such as positioning accuracy, dynamic stiffness and control bandwidth are severely limited by backlash. Several control schemes based on backlash compensation or switching control of hybrid systems are known, but many of these approaches require the exact backlash width as an input parameter. Several existing approaches for backlash identification are limited in accuracy because the load-side velocity is required but it is not directly measurable. In this paper a method for backlash identification tailored to electromechanical motion systems with rotary motor and translationally moving load is proposed. A mobile sensor board with inertial measurement unit (IMU) is mounted temporarily on the load and serves to acquire the accelerations during the experiment. The connection to the host-PC is wireless, time synchronisation is not required. It is shown in experiments on a testbed with an adjustable backlash coupling but otherwise industry-like equipment that high accuracies can be achieved.
KW - Backlash Identification
KW - Accelerometer
KW - Electric Drives
KW - Electric Power Trains
KW - Accelerometer
KW - Backlash identification
KW - Electric drives
KW - Electric power trains
UR - http://www.scopus.com/inward/record.url?scp=85090385600&partnerID=8YFLogxK
U2 - 10.15488/11505
DO - 10.15488/11505
M3 - Conference contribution
SP - 576
EP - 584
BT - ICINCO 2020 - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics
A2 - Gusikhin, Oleg
A2 - Madani, Kurosh
A2 - Zaytoon, Janan
ER -