Abstract This paper presents design of a modified controller based on the concept of Experience Mapping based Predictive Controller (EMPC) for precise position control of DC motor system containing backlash. The earlier design of EMPC addresses well-damped and under-damped systems. However, the control action is not suitable for systems containing backlash as it produces undesirable oscillations. The proposed design modifies the control action to include a separate action in the backlash region for both the well damped and under-damped position system using an Experience Mapped Knowledge(EMK). The simulation results show that the proposed controller performs well compared to previous EMPC techniques and it is also practically demonstrated on a test setup consisting of a backlash system. The simulation results are also compared with Model Reference Adaptive Controller for changes in system parameters like static friction and load inertia.

中文翻译：

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EMPC在带齿隙直流电机系统精确位置控制中的应用

摘要 本文提出了一种基于经验映射的预测控制器（EMPC）概念的改进控制器设计，用于含齿隙的直流电机系统的精确位置控制。EMPC 的早期设计解决了阻尼良好和阻尼不足的系统。然而，控制动作不适用于包含间隙的系统，因为它会产生不希望的振荡。所提出的设计修改了控制动作，以包括使用经验映射知识 (EMK) 的良好阻尼和欠阻尼位置系统的反向间隙区域中的单独动作。仿真结果表明，与以前的 EMPC 技术相比，所提出的控制器性能良好，并且在由背隙系统组成的测试设置上也得到了实际证明。