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

自动化科学与电气工程学院

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

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

3 引用（Scopus）

摘要

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.

源语言	英语
主期刊名	Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018
出版商	Institute of Electrical and Electronics Engineers Inc.
页	2612-2617
页数	6
ISBN（电子版）	9781538637579
DOI	https://doi.org/10.1109/ICIEA.2018.8398152
出版状态	已出版 - 26 6月 2018
活动	13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018 - Wuhan, 中国期限: 31 5月 2018 → 2 6月 2018

出版系列

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

会议

会议	13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018
国家/地区	中国
市	Wuhan
时期	31/05/18 → 2/06/18

联合国可持续发展目标

此成果有助于实现下列可持续发展目标：

可持续发展目标 7 经济适用的清洁能源

访问文件

10.1109/ICIEA.2018.8398152

其它文件与链接

链接到 Scopus 的出版物

引用此

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. 在 Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018 (页码 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 等. / 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. 页码 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.",

pages = "2612--2617",

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. 在 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., 页码 2612-2617, 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018, Wuhan, 中国, 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 等.
Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. 页码 2612-2617 (Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

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

UR - https://www.scopus.com/pages/publications/85050120009

U2 - 10.1109/ICIEA.2018.8398152

DO - 10.1109/ICIEA.2018.8398152

M3 - 会议稿件

AN - SCOPUS:85050120009

T3 - Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018

SP - 2612

EP - 2617

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 等. Identification and compensation of nonlinearity for airborne electromechanical actuator based on Matlab/dSPACE. 在 Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018. Institute of Electrical and Electronics Engineers Inc. 2018. 页码 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

摘要

出版系列

会议

联合国可持续发展目标

访问文件

其它文件与链接

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引用此