Analysis of limit cycle mechanism for two-mass system with backlash nonlinearity

Wang, Can; Yang, Ming; Zheng, Weilong; Lv, Xin; Hu, Kun; Xu, Dianguo

doi:10.1109/iecon.2016.7793734

Cited by 14 publications

(7 citation statements)

References 18 publications

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“…Planetary reduction gearboxs have the advantages of large torque capacity, high-speed reduction, and high efficiency [15], but they have the disadvantage of increasing the backlash, as they are designed to have gaps in the meshing parts. Backlash is one of the most important nonlinearities that limit the performance of speed and position control in robotics [16], [17]. For high-precision positioning, the currently used numerical control algorithm uses a backlash correction method S.oba was with the Department of Electrical and Computer Engineering, Yokohama National University, Yokohama 240-8501, Japan.…”

Section: Introductionmentioning

confidence: 99%

Hybrid 3K Compound Planetary Reduction Gearbox With a Roller Transmission Mechanism

Oba

Fujimoto

2022

IEEE/ASME Trans. Mechatron.

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Reduction gears are used in the joints of the robots. While precision and efficiency are required for industrial robot gearboxes, humanoid robots are expected to become more popular in the future. Flexibility must be considered in humanoid robots, and high back drivability shall be required. In this study, we aimed at realizing high efficiency, and high-precision reduction gears with high reduction ratios by maximizing the efficiency equation, hybridizing a 3K compound planetary reduction gearbox and traction drive, experimentally determining the efficiency, backlash, and angular velocity variation, and demonstrating the effectiveness of the proposed mechanism from a control perspective. In the experiments, we achieved a maximum forward driving efficiency of 90.90%, backward driving efficiency of 90.58%, and a minimum backlash of 1.18 arcmin.

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Section: Introductionmentioning

confidence: 99%

Hybrid 3K Compound Planetary Reduction Gearbox With a Roller Transmission Mechanism

Oba

Fujimoto

2022

IEEE/ASME Trans. Mechatron.

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“…However, the vibration caused by gear clearance in the drivetrain is not mentioned in above these references. For research of gear clearance, in reference, 4 the limit cycle characteristics and mechanical vibration caused by the nonlinearity of clearance are studied using a descriptive function analysis method. In reference, 5 limit cycles of speed control drive systems with clearance nonlinearity were analyzed using the eigenvalue method of nonlinear describing function.…”

Section: Introductionmentioning

confidence: 99%

A 2-DOF-IMC method for suppressing transmission chain vibration of wind power generation system with a clearance

Zhou

Shen

2022

Advances in Mechanical Engineering

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To address the vibration problem caused by gear clearance in the wind drivetrain, a two-degree-of-freedom internal model control (2-DOF-IMC) method was proposed to suppress the clearance’s nonlinear vibration. The two-mass wind drivetrain with clearance is the object of this paper’s research. First, we discuss the nonlinear characteristics of gear clearance and the mechanism by which vibration occurs. The nonlinear clearance unit is then decomposed into a linear unit and a nonlinear bounded disturbance unit. A suppression disturbance method based on 2-DOF-IMC was proposed to address nonlinear bounded disturbances. The 2-DOF-IMC overcomes the shortcoming of the PID control and the common internal model control (1-DOF-IMC) by allowing for independent adjustment of the anti-disturbance performance, effectively suppressing the nonlinear disturbance caused by gear clearance. A 2-DOF-IMC scheme and an IMC controller are designed, and the method’s effectiveness is validated through simulation.

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“…These types of machines need accurate motion control to produce high-quality products [2], [3]. Also, the high speed and high accuracy position applications have been rapidly and broadly developed to facilitate the complex automatic processes in the industrial field [4], [5]. Generally, the servomechanism systems don't have an accurate estimated parameter for friction and backlash models which leads to system uncertainty.…”

Section: Introductionmentioning

confidence: 99%

“…Generally, the servomechanism systems don't have an accurate estimated parameter for friction and backlash models which leads to system uncertainty. The friction causes high steady-state error while the backlash reasons undesired vibration in the system [4]. The models that can describe the friction phenomenon in servomechanism systems suffer from parameter uncertainty [6].…”

Section: Introductionmentioning

confidence: 99%

Design variable structure fuzzy control based on deep neural network model for servomechanism drive system

Shamseldin

Bassiuny

Ghany

2022

IJPEDS

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This paper presents a new scheme for variable structure (VS) fuzzy PD controller. The rule base of the fuzzy PD controller is tuned online. The purpose of the proposed controller is to track accurately a preselected position command for the servomechanism system. Therefore, this study establishes a model using a black-box modeling approach; simulations were performed based on real-time data collected by LabVIEW and processed using MATLAB. The input signal for the servomechanism driver is a pseudo-random binary sequence that considers violent excitation in the frequency interval. The candidate models were obtained using linear least squares, nonlinear least squares, and deep neural network (DNN). The validation results proved that the identified model based on DNN has the smallest mean square errors. Then, the DNN identified model was used to design the proposed control techniques. A comparison had been executed between the VS fuzzy PD control, the conventional PD control, and the fixed structure fuzzy PD control. The experimental results confirm the proposed VS fuzzy PD control can absorb the nonlinear behavior of the system. The speed regulation test, it reduces the rise time from 50% to 56%. While continuously changing in speed, it has the smallest tracking error (0.412 inches).

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Analysis of limit cycle mechanism for two-mass system with backlash nonlinearity

Cited by 14 publications

References 18 publications

Hybrid 3K Compound Planetary Reduction Gearbox With a Roller Transmission Mechanism

Hybrid 3K Compound Planetary Reduction Gearbox With a Roller Transmission Mechanism

A 2-DOF-IMC method for suppressing transmission chain vibration of wind power generation system with a clearance

Design variable structure fuzzy control based on deep neural network model for servomechanism drive system

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