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

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.