Adaptive Backlash Compensation for CNC Machining Applications

Abstract

The mechanical transmission employed inside the computer numerical control (CNC) machine electromechanical system usually has an inherent backlash. As a position-controlled system is commonly used for the electromechanical system, the backlash limits the performance of the motion control system due to its nonlinearity and discontinuity. This paper proposes an effective method to adaptively detect and compensate for the backlash effect in real time, in which the end-effect load position of the CNC machine is estimated and controlled by the position-controlled servo system, in order to eliminate the influence of backlash on the contour path performance. The simulation results obtained from the model of a realistic CNC machine show the successful elimination of the error between the reference and the end-effector position and a significant improvement in the control system performance.

Nonlinear dynamics of two electromechanical arms acting discontinuously on a balloon under the action of a sinusoidal excitation

“…See more works taking into account discontinuities in Refs. [ 27 , 28 ]. In this work, discontinuity refers to the difference of medium in which the system operates.…”

Backlash compensation based oscillation suppression control for automatic loading manipulator arm with nonlinear extended state observer

“…This system employs a switching control method based on the engaged state, allowing for more precise control of gear engagement and disengagement. Another study [24] proposes a real-time adaptive detection and compensation method to mitigate the impact of backlash on profile path performance. This way determines whether the gear is engaged based on whether the motor shaft carries the load inertia.…”