Title: An adaptive compensation control method for the transmission error of the mechanical system based on the characteristic model

Authors: Wanwan Ren; You Wu; Ronghua Du

Addresses: School of Automotive and Mechanical Engineering, Changsha University of Science and Technology, Changsha, 410004, Hunan, China ' School of Automotive and Mechanical Engineering, Changsha University of Science and Technology, Changsha, 410004, Hunan, China ' School of Automotive and Mechanical Engineering, Changsha University of Science and Technology, Changsha, 410004, Hunan, China

Abstract: Applying the characteristic model-based golden section adaptive (GSA) control theory, an adaptive error compensation control method for the transmission error of the mechanical system is proposed in this paper. A mechanical transmission system with a compensation mechanism was established, taking the ball screw as the main transmission component. The dynamics characteristic of the mechanical transmission system is analysed. The GSA control theory based on the characteristic model is introduced. For the established characteristic model of the transmission system, the projection gradient method is used to identify its characteristic parameters online. The stability analysis of the closed-loop system consisting of characteristic model and GSA controller is carried out. The experimental results show that the characteristic model-based GSA control has a good effect on the transmission error compensation, as well as simple on-site debugging. The effectiveness and superiority of the method are verified.

Keywords: characteristic model; golden section adaptive control; golden section adaptive; GSA; mechanical transmission system; error compensation.

DOI: 10.1504/IJMTM.2023.133468

International Journal of Manufacturing Technology and Management, 2023 Vol.37 No.3/4, pp.241 - 256

Received: 11 Jan 2022
Received in revised form: 25 Mar 2022
Accepted: 29 Jun 2022
Published online: 17 Sep 2023 *

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