Study on Simplified Dynamic Flexible Variable Structure PD Composite Control of Continuous Rotary Motor System Based on Friction Torque Compensation

Study on Simplified Dynamic Flexible Variable Structure PD Composite Control of Continuous Rotary Motor System Based on Friction Torque Compensation | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Study on Simplified Dynamic Flexible Variable Structure PD Composite Control of Continuous Rotary Motor System Based on Friction Torque Compensation xiaojing wang, Yaming Feng, Bocheng Bai This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-1592311/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract Aiming at the influence of uncertain nonlinear factors such as frictional interference on the control performance of the continuous rotary electro-hydraulic servo motor system, the motor system model and its friction torque model are established in this paper. Combined with controllers, genetic algorithm is used for parameter tuning, and a simplified dynamic flexible variable structure PD composite control strategy based on friction feedforward compensation is determined. The simulation and experimental results show that the simplified dynamic flexible variable structure PD composite controller can improve the performance of ultra-low speed and high frequency response of continuous rotary electro-hydraulic servo motor, which has better control accuracy. Continuous rotary electro-hydraulic servo motor friction torque model dynamic flexible variable structure control Full Text Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-1592311","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":130972029,"identity":"966f1396-2ecc-449f-8f67-d2f761ab46ef","order_by":0,"name":"xiaojing wang","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA+klEQVRIiWNgGAWjYBACA2Yogw3ESWBgkGNjbz9AQAszqhZjPp4zCfi1MDCjCiTOk3AwwKvFnJ3/mMTPHbWJfeyHDxQ83FGb3ibBkMDwo2IbTi2Wzcxskr1njhuz8aQlGCSeOZ7bJt14gLHnzG3cDjvMzHaDt+2YHBtDjoFBYtux3DaZAwnMjG34tdz823aMh43/DVhLOptEggFBLbd522rk2CTAttQkEKPF/Lds2wFjNolnQL+0HTBsAwbyQbx+OX/wseHbtrrE+f3Jxwx/ttXJy7e3H3zwowK3Fig4DCLYDKAMhgOE1ANBHYhgfgBljIJRMApGwShAAQATLla8gST0xAAAAABJRU5ErkJggg==","orcid":"https://orcid.org/0000-0001-6285-9193","institution":"Beijing University of Civil Engineering and Architecture","correspondingAuthor":true,"submittingAuthor":false,"prefix":"","firstName":"xiaojing","middleName":"","lastName":"wang","suffix":""},{"id":130972030,"identity":"1cd2cfaf-4995-40c1-97ae-ba23463b1b18","order_by":1,"name":"Yaming Feng","email":"","orcid":"","institution":"Harbin Engineering University","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"Yaming","middleName":"","lastName":"Feng","suffix":""},{"id":130972031,"identity":"3cb07841-edd6-4906-9682-e6d8a9d9f217","order_by":2,"name":"Bocheng Bai","email":"","orcid":"","institution":"Beijing University of Civil Engineering and Architecture","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"Bocheng","middleName":"","lastName":"Bai","suffix":""}],"badges":[],"createdAt":"2022-04-25 08:43:45","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-1592311/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-1592311/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":28248200,"identity":"485cb8d1-7cbf-4381-864c-3b3b75645b43","added_by":"auto","created_at":"2022-10-25 20:41:22","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":1048882,"visible":true,"origin":"","legend":"","description":"","filename":"Manuscript.pdf","url":"https://assets-eu.researchsquare.com/files/rs-1592311/v1_covered.pdf"},{"id":25679089,"identity":"af2097fa-392b-4f84-853f-0ff7298365a0","added_by":"auto","created_at":"2022-08-25 19:06:47","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":1048996,"visible":true,"origin":"","legend":"","description":"","filename":"Manuscript.pdf","url":"https://assets-eu.researchsquare.com/files/rs-1592311/v1_covered.pdf"}],"financialInterests":"","formattedTitle":"Study on Simplified Dynamic Flexible Variable Structure PD Composite Control of Continuous Rotary Motor System Based on Friction Torque Compensation","fulltext":[{"header":"Full Text","content":"This preprint is available for \u003ca href='/article/rs-1592311/latest.pdf' target='_blank'\u003edownload as a PDF\u003c/a\u003e."}],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":false,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Continuous rotary electro-hydraulic servo motor, friction torque model, dynamic flexible variable structure control","lastPublishedDoi":"10.21203/rs.3.rs-1592311/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-1592311/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eAiming at the influence of uncertain nonlinear factors such as frictional interference on the control performance of the continuous rotary electro-hydraulic servo motor system, the motor system model and its friction torque model are established in this paper. Combined with controllers, genetic algorithm is used for parameter tuning, and a simplified dynamic flexible variable structure PD composite control strategy based on friction feedforward compensation is determined. The simulation and experimental results show that the simplified dynamic flexible variable structure PD composite controller can improve the performance of ultra-low speed and high frequency response of continuous rotary electro-hydraulic servo motor, which has better control accuracy.\u003c/p\u003e","manuscriptTitle":"Study on Simplified Dynamic Flexible Variable Structure PD Composite Control of Continuous Rotary Motor System Based on Friction Torque Compensation","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2022-08-25 19:06:40","doi":"10.21203/rs.3.rs-1592311/v1","editorialEvents":[{"type":"communityComments","content":0}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true}}],"origin":"","ownerIdentity":"ebac3e0d-c707-4040-a8f6-283f6fef294e","owner":[],"postedDate":"August 25th, 2022","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"posted","subjectAreas":[],"tags":[],"updatedAt":"2022-10-25T20:41:07+00:00","versionOfRecord":[],"versionCreatedAt":"2022-08-25 19:06:40","video":"","vorDoi":"","vorDoiUrl":"","workflowStages":[]},"version":"v1","identity":"rs-1592311","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-1592311","identity":"rs-1592311","version":["v1"]},"buildId":"FbvkV6FR0MCFSLy54lSbu","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}