Nonlinear Dynamics Modeling and Backlash Compensating of Multi-Stage Gear Transmission System

Pan, Guowei; Chen, Wenliang; Ding, Liping; Zhang, Deli

doi:10.1142/9789814759687_0004

Cited by 1 publication

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“…Reference [14] added an offset to the output torque to compensate for and eliminate the distortion caused by backlash. Reference [15] used a compensation method based on ideal model control and designed a fuzzy controller with angle difference feedback. Reference [16] presented a switch control method in which time-optimal sliding mode control was used when the system entered backlash and a nonlinear proportional-integral-derivative (PID) controller was used when the gears were meshed.…”

Section: Introductionmentioning

confidence: 99%

Research on Clearance Elimination Control Based on Linearization

et al. 2021

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The accuracy and operational stability of a turntable system can be reduced by the backlash problem that occurs in the reducer's gear transmission system. To solve this problem, this work proposes a scheme in which two motors are used to eliminate the effects of backlash through a linearization process. By calculating and outputting two independent torques synchronously from the two servo motors to the system output shaft's gears, a nonlinear system with backlash can be transformed into a linear system without backlash, thus making the resulting system easy to control. Experiments verify that the system will remain stable after the movement of the output shaft stops.INDEX TERMS Backlash, double-motor system, gear transmission system, linearization algorithm. JINJI QIU received the B.Sc. degree from the Harbin Institute of Technology, China, in 2019, where he is currently pursuing the M.Sc. degree. His research interests include circuit design and magneto-electric encoder. SHUANGHUI HAO was born in Guizhou, China, in 1963. He received the B.Sc. degree from Tianjin University, in 1985, then began his research on special motor at Shanghai Electrical Apparatus Research Institute, China. After that, he received the M.Sc. and Ph.D. degrees from the Kyushu Institute of Technology, Japan, in 1997. He then went to YASKAWA Electric Corporation, Japan, and worked on AC servo motor. In 2003, he began to work with the Harbin Institute of Technology as a Professor. He is the author of more than 100 articles and has more than 60 patents. His research interests include magneto-electric encoder, AC servo systems, numerical control, and signal processing.

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Section: Introductionmentioning

confidence: 99%