Vibration Suppression of Electromechanical Actuator Considering Backlash Nonlinearity

Abstract As an electromechanical drive system, nonlinear factors are unavoidable in electromechanical actuator (EMA). In this paper, elasticity of shaft and backlash nonlinearity are considered in the model, the effects of elasticity and backlash on EMA are analyzed. In order to suppress the vibration caused by nonlinearity and elasticity, A nonlinear control method based on backstepping method is proposed. The simulation results show that this method can eliminate the limit cycle oscillation (LCO) caused by backlash, and effectively suppress the vibration.