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	Nonlinear control design for system with mechanical resonance based on two tracking-differentiators (EI CONFERENCE)
	Huang P. ; Ge W. ; Li J. ; Xiu J. ; Li Y. ; Chen L.
	2010
会议名称	2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010, August 4, 2010 - August 7, 2010
会议地点	Xi'an, China
关键词	A nonlinear control strategy for controlling a motion system with mechanical resonance is presented in this paper. A mathematical model of the servo system is derived according to the parameters of an actual system. By using two Tracking-Differentiators reference input and system output are tracked and their differential signals are given simultaneously. A nonlinear PD control law in velocity loop is designed based on non-smooth feedback. The simulation results show that the control law is superior remarkably in performance to linear PD control law and the classical PID control law. Tracking-Differentiator resolves the contradiction between rapidity and overshoot of system response. The nonlinear PD control law improves system dynamic performance and intensifies the ability of disturbance rejection. The control design achieved in this paper makes the servo system more robust. 2010 IEEE.
页码	1713-1717
收录类别	EI
内容类型	会议论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/33073]
专题	长春光学精密机械与物理研究所_中科院长春光机所知识产出_会议论文
推荐引用方式 GB/T 7714	Huang P.,Ge W.,Li J.,et al. Nonlinear control design for system with mechanical resonance based on two tracking-differentiators (EI CONFERENCE)[C]. 见:2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010, August 4, 2010 - August 7, 2010. Xi'an, China.

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