Gray-box modeling and QFT control for precision servo transmission systems

Abstract

Precision servo transmission systems have widely been applied in industrial equipment to achieve high accuracy and high speed motion. However, due to the presence of friction and uncertainty, the characteristics of precision servo transmission systems are variant depends on the working conditions, leading to oscillation and instability in the system performances. In this paper, a grey-box model of the system is established, the model structure derived from the theoretical modeling and the model parameters are obtained by experiments using set membership identification method. This paper proposes two-degrees of freedom (2-DOF) robust position controller for a precision servo transmission system, based on the quantitative feedback theory (QFT), to achieve high accuracy and consistent tracking performance even in presence of considerable system uncertainties and friction disturbances. The results of simulate and experiment validate the effectiveness of the proposed controller.

Key words： precision servo transmission system; modeling; set membership identification; quantitative feedback theory (QFT); robustness

Acknowledgement

This study was supported in part by the National Basic Research Program of China (973 Program) (No. 2009 CB724205) and the National High-Tech R&D Program of China (863 Program) (No. 2009AA04 Z148).

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