Advanced

Testing and implementation of a backlash detection algorithm

Haventon, Max and Öberg, Jakob (2008) In MSc Theses
Department of Automatic Control
Abstract
Backlash is a well documented and rather common non-linearity which is present in most mechanical and hydraulic systems. The amount of backlash varies depending on the dynamics of the system, for example a gear box in a car needs some space for heat expansion and consequently some amount of backlash in order to function. It is of interest to detect and estimate the amount of backlash automatically, since the time between the manual inspections often is long. This thesis covers the method described in 'Automatic on-line estimation of backlash in control loops' written by Tore Hägglund and published in the Journal of Process Control in January 2007. One of the main objectives of this master thesis is to extend the safety net to guarantee the... (More)
Backlash is a well documented and rather common non-linearity which is present in most mechanical and hydraulic systems. The amount of backlash varies depending on the dynamics of the system, for example a gear box in a car needs some space for heat expansion and consequently some amount of backlash in order to function. It is of interest to detect and estimate the amount of backlash automatically, since the time between the manual inspections often is long. This thesis covers the method described in 'Automatic on-line estimation of backlash in control loops' written by Tore Hägglund and published in the Journal of Process Control in January 2007. One of the main objectives of this master thesis is to extend the safety net to guarantee the robustness of the backlash estimation procedure described in the article. The purpose of the safety net is to make sure that backlash estimates are only calculated when the system behavior resembles backlash. Conditions for period time, curve form and setpoint are discussed and investigated. The backlash estimation procedure is implemented as a control module in a prototype library in ABB Control Builder, a software used for PLC programming in an ABB 800xA environment. Finally, industrial field tests are performed to confirm the robustness of the method. (Less)
Please use this url to cite or link to this publication:
author
Haventon, Max and Öberg, Jakob
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
publication/series
MSc Theses
report number
TFRT-5826
ISSN
0280-5316
language
English
id
8847653
date added to LUP
2016-03-17 10:24:15
date last changed
2016-03-17 10:24:15
@misc{8847653,
  abstract     = {Backlash is a well documented and rather common non-linearity which is present in most mechanical and hydraulic systems. The amount of backlash varies depending on the dynamics of the system, for example a gear box in a car needs some space for heat expansion and consequently some amount of backlash in order to function. It is of interest to detect and estimate the amount of backlash automatically, since the time between the manual inspections often is long. This thesis covers the method described in 'Automatic on-line estimation of backlash in control loops' written by Tore Hägglund and published in the Journal of Process Control in January 2007. One of the main objectives of this master thesis is to extend the safety net to guarantee the robustness of the backlash estimation procedure described in the article. The purpose of the safety net is to make sure that backlash estimates are only calculated when the system behavior resembles backlash. Conditions for period time, curve form and setpoint are discussed and investigated. The backlash estimation procedure is implemented as a control module in a prototype library in ABB Control Builder, a software used for PLC programming in an ABB 800xA environment. Finally, industrial field tests are performed to confirm the robustness of the method.},
  author       = {Haventon, Max and Öberg, Jakob},
  issn         = {0280-5316},
  language     = {eng},
  note         = {Student Paper},
  series       = {MSc Theses},
  title        = {Testing and implementation of a backlash detection algorithm},
  year         = {2008},
}