The development of a simple control system to correct backlash

[摘要] The control of systems that exhibit backlash has historically been a challenge. In these systems, there are essentially two steady state characteristic response curves separated by a deadband zone. This thesis work is motivated by the desire to accurately control the position of an actuator stem that reacts to the pressure placed on a corresponding diaphragm, which is critical to the temperature control system in a larger piece of machinery. An accurate system model is developed and a number of control methods are explored. The final control scheme is based on the full characterization of the pressure/position backlash curves and real-time pressure and position measurements. This method achieves steady state position response within 1.3% of the actuator;;s full travel..

[发布机构] Massachusetts Institute of Technology