Identification and compensation of nonlinearity for airborne electromechanical actuator based on Matlab/dSPACE

Yunhua Li; Juntao Jia; Shenglin Zhao; Wei Liu; Jiaxing Li; Zhenjin Nie; Hao Lu

doi:10.1109/ICIEA.2018.8398152

Identification and compensation of nonlinearity for airborne electromechanical actuator based on Matlab/dSPACE

Yunhua Li
, Juntao Jia
, Shenglin Zhao
, Wei Liu
, Jiaxing Li
, Zhenjin Nie
, Hao Lu

School of Automation Science and Electrical Engineering

Beihang University
18th Institute of China Astro. Sci. and Tech. Co. Ltd

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

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 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.

Original language	English
Title of host publication	Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2612-2617
Number of pages	6
ISBN (Electronic)	9781538637579
DOIs	https://doi.org/10.1109/ICIEA.2018.8398152
State	Published - 26 Jun 2018
Event	13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018 - Wuhan, China Duration: 31 May 2018 → 2 Jun 2018

Publication series

Name	Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018

Conference

Conference	13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018
Country/Territory	China
City	Wuhan
Period	31/05/18 → 2/06/18

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Electromechanical actuator
LuGre friction
compensation
hysteresis backlash
identification
nonlinearity

Access to Document

10.1109/ICIEA.2018.8398152

Cite this

Li, Y., Jia, J., Zhao, S., Liu, W., Li, J., Nie, Z., & Lu, H. (2018). Identification and compensation of nonlinearity for airborne electromechanical actuator based on Matlab/dSPACE. In Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018 (pp. 2612-2617). (Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIEA.2018.8398152

Li, Yunhua ; Jia, Juntao ; Zhao, Shenglin et al. / Identification and compensation of nonlinearity for airborne electromechanical actuator based on Matlab/dSPACE. Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 2612-2617 (Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018).

@inproceedings{686b0a06c92c4846bcf7dbff491c2259,

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 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.",

keywords = "Electromechanical actuator, LuGre friction, compensation, hysteresis backlash, identification, nonlinearity",

author = "Yunhua Li and Juntao Jia and Shenglin Zhao and Wei Liu and Jiaxing Li and Zhenjin Nie and Hao Lu",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018 ; Conference date: 31-05-2018 Through 02-06-2018",

year = "2018",

month = jun,

day = "26",

doi = "10.1109/ICIEA.2018.8398152",

language = "英语",

series = "Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018",

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Li, Y, Jia, J, Zhao, S, Liu, W, Li, J, Nie, Z & Lu, H 2018, Identification and compensation of nonlinearity for airborne electromechanical actuator based on Matlab/dSPACE. in Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018. Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018, Institute of Electrical and Electronics Engineers Inc., pp. 2612-2617, 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018, Wuhan, China, 31/05/18. https://doi.org/10.1109/ICIEA.2018.8398152

Identification and compensation of nonlinearity for airborne electromechanical actuator based on Matlab/dSPACE. / Li, Yunhua; Jia, Juntao; Zhao, Shenglin et al.
Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 2612-2617 (Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Identification and compensation of nonlinearity for airborne electromechanical actuator based on Matlab/dSPACE

AU - Li, Yunhua

AU - Jia, Juntao

AU - Zhao, Shenglin

AU - Liu, Wei

AU - Li, Jiaxing

AU - Nie, Zhenjin

AU - Lu, Hao

PY - 2018/6/26

Y1 - 2018/6/26

N2 - 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.

AB - 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.

KW - Electromechanical actuator

KW - LuGre friction

KW - compensation

KW - hysteresis backlash

KW - identification

KW - nonlinearity

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BT - Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018

Y2 - 31 May 2018 through 2 June 2018

ER -

Li Y, Jia J, Zhao S, Liu W, Li J, Nie Z et al. Identification and compensation of nonlinearity for airborne electromechanical actuator based on Matlab/dSPACE. In Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 2612-2617. (Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018). doi: 10.1109/ICIEA.2018.8398152

Identification and compensation of nonlinearity for airborne electromechanical actuator based on Matlab/dSPACE

Abstract

Publication series

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UN SDGs

Keywords

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