Nonlinear dynamics in servo positioning loops

摘要: This paper describes a novel dynamic model for servo positioning systems. Nonlinear representations of friction, backlash, controllers and process dynamics are integrated in having closed loop configuration where unwanted oscillations such as hunting resonant frequencies reproduced. A case study consisting gun mount driven by hydraulic actuators is analyzed. Real data used identification validation the mathematical representation. Empirical static friction values tuning at low speeds. An excellent matching accomplished between calibrated real response. The also reproduces dependence to rotating speed that generally found this type