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    Servo System Identification Using Relay Feedback: A Time-Domain Approach

    Source: Journal of Manufacturing Science and Engineering:;2012:;volume( 134 ):;issue: 006::page 61012
    Author:
    Jia Liu
    ,
    Jianhua Wu
    ,
    Zhenhua Xiong
    ,
    Xiangyang Zhu
    DOI: 10.1115/1.4007715
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: In servo systems, the dynamic characteristics may not only differ between axes but may also vary with moving directions for a single axis. The direction dependent characteristics would result in additional tracking or positioning error and degrade the performance of the system. In this paper, relay feedback tests are successfully applied to identify the dynamic characteristics in servo systems. A time-domain method is used to analyze the relay feedback other than the conventional describing function (DF) method. The time-domain method utilizes the same oscillation parameters (oscillation amplitude and half period) as the DF method for system identification. However, the time-domain method takes several advantages: First, the direction dependent characteristics of the system can be properly revealed; second, no approximation is made in this method, so that the exact expressions of the amplitudes and the periods of the limit cycles under relay feedback can be derived. A feedforward compensator is then designed using the estimated values of the system parameters. Simulation results show that the identification results through the time-domain method are more accurate than the DF method and are more robust under different relay parameters. Real time experiments show that the feedforward compensator designed by the proposed method compensates disturbances related to the direction and hence improves the tracking and positioning performance of the servo system.
    keyword(s): Oscillations , Servomechanisms , Errors , Feedback , Cycles AND Feedforward control ,
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      Servo System Identification Using Relay Feedback: A Time-Domain Approach

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    http://yetl.yabesh.ir/yetl1/handle/yetl/149598
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    contributor authorJia Liu
    contributor authorJianhua Wu
    contributor authorZhenhua Xiong
    contributor authorXiangyang Zhu
    date accessioned2017-05-09T00:52:38Z
    date available2017-05-09T00:52:38Z
    date copyright41244
    date issued2012
    identifier issn1087-1357
    identifier otherJMSEFK-926545#manu_134_6_061012.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/149598
    description abstractIn servo systems, the dynamic characteristics may not only differ between axes but may also vary with moving directions for a single axis. The direction dependent characteristics would result in additional tracking or positioning error and degrade the performance of the system. In this paper, relay feedback tests are successfully applied to identify the dynamic characteristics in servo systems. A time-domain method is used to analyze the relay feedback other than the conventional describing function (DF) method. The time-domain method utilizes the same oscillation parameters (oscillation amplitude and half period) as the DF method for system identification. However, the time-domain method takes several advantages: First, the direction dependent characteristics of the system can be properly revealed; second, no approximation is made in this method, so that the exact expressions of the amplitudes and the periods of the limit cycles under relay feedback can be derived. A feedforward compensator is then designed using the estimated values of the system parameters. Simulation results show that the identification results through the time-domain method are more accurate than the DF method and are more robust under different relay parameters. Real time experiments show that the feedforward compensator designed by the proposed method compensates disturbances related to the direction and hence improves the tracking and positioning performance of the servo system.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleServo System Identification Using Relay Feedback: A Time-Domain Approach
    typeJournal Paper
    journal volume134
    journal issue6
    journal titleJournal of Manufacturing Science and Engineering
    identifier doi10.1115/1.4007715
    journal fristpage61012
    identifier eissn1528-8935
    keywordsOscillations
    keywordsServomechanisms
    keywordsErrors
    keywordsFeedback
    keywordsCycles AND Feedforward control
    treeJournal of Manufacturing Science and Engineering:;2012:;volume( 134 ):;issue: 006
    contenttypeFulltext
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