Low Speed Crawling Inhibition Method of the AC Servo System based on Backstepping Control

A low speed crawling inhibition method of the AC servo motor based on backstepping control (BC) is proposed in this paper to improve the low speed performance of servo system. To improve the robustness, realize the precision positioning, and reduce the steady-state speed error of the servo drive at low speed, the backstepping controller is proposed by using the Lyapunov function. As a result, the robustness of the system and the position tracking performance in the presence of disturbances are improved. Moreover, the proposed method can reduce the speed fluctuation caused by the low speed crawling. The correctness and the effectiveness of the BC are verified by the experiment.