Title: Identification and compensation of nonlinearity for airborne electromechanical actuator based on Matlab/dSPACE
Abstract:Focused on the improvement of the tracking accuracy of an electromechanical actuator (EMA), the methods of identification and compensation for nonlinearity of friction and transmission backlash are st...Focused on the improvement of the tracking accuracy of an electromechanical actuator (EMA), the methods of identification and compensation for nonlinearity of friction and transmission backlash are studied. The mathematical models based on the LuGre friction and the hysteresis backlash are established for the EMA with position loop and speed loop controllers, and the model parameter identification is carried out in this paper. According to the identified nonlinearity models, the friction is compensated through a feed-forward method, and the backlash is compensated simultaneously through an inverse model as well. The experiment is carried out through hardware in the loop simulation platform based on Matlab/dSPACE. The accuracy of the nonlinear models and the effectiveness of compensation are verified through the experiment. The experiment shows that the position tracking error and the speed tracking error are greatly reduced after compensation.Read More
Publication Year: 2018
Publication Date: 2018-05-01
Language: en
Type: article
Indexed In: ['crossref']
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Cited By Count: 2
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