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Nonlinear analysis and parameters identification of servo mechanism with relay feedback

DongLin Pu (School of Mechanical Engineering, Institute of Robots, Shanghai Jiao Tong University, Shanghai, People's Republic of China)
JianHua Wu (School of Mechanical Engineering, Institute of Robots, Shanghai Jiao Tong University, Shanghai, People's Republic of China)
ZhenHua Xiong (School of Mechanical Engineering, Institute of Robots, Shanghai Jiao Tong University, Shanghai, People's Republic of China The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, People's Republic of China)
XinJun Sheng (School of Mechanical Engineering, Institute of Robots, Shanghai Jiao Tong University, Shanghai, People's Republic of China)
Han Ding (School of Mechanical Engineering, Institute of Robots, Shanghai Jiao Tong University, Shanghai, People's Republic of China)

Assembly Automation

ISSN: 0144-5154

Article publication date: 3 August 2010

322

Abstract

Purpose

The purpose of this paper is to explore the nonlinear analysis on the relay feedback technology (RFT) applied to parameters identification of servo mechanism.

Design/methodology/approach

In order to investigate nonlinear elements' influence on RFT, the analysis was conducted in the velocity and current control loops, respectively. The RFT algorithm for modeling servo mechanism with friction was developed to overcome the nonlinear influence. Furthermore, the results from experiments were presented to validate the analysis and illustrated the advantages of the proposed method.

Findings

The Coulomb friction and current changing are the main nonlinear influence on the RFT application in servo mechanism. The friction effects should be included to servo system modeling based on RFT.

Practical implications

Some suggestions concluded from nonlinear analysis are useful to optimize the selection of parameters in RFT. And the proposed algorithm is applicable to modeling servo mechanism with friction.

Originality/value

The nonlinear analysis in the different control loops of servo mechanism based on RFT is presented and the effective identification approach is proposed in this paper.

Keywords

Citation

Pu, D., Wu, J., Xiong, Z., Sheng, X. and Ding, H. (2010), "Nonlinear analysis and parameters identification of servo mechanism with relay feedback", Assembly Automation, Vol. 30 No. 3, pp. 221-227. https://doi.org/10.1108/01445151011061118

Publisher

:

Emerald Group Publishing Limited

Copyright © 2010, Emerald Group Publishing Limited

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