Backlash compensation for motion system with elastic transmission

Itai Kolnik, Grigory Agranovich

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

19 Scopus citations

Abstract

Control of mechanical system with backlash is a topic well studied by many control practitioners. This interest has been motivated by the fact that backlash is one of the most important nonlinearities, that primary limit the performance of speed and position loop in industrial motion system, such as robotics, automation and many other motion systems. This research deals with backlash in two-mass system, which well represents the majority of such systems. In this research backlash is treated as torque disturbance, which enter the system at the location of the backlash. Then a disturbance observer (DOB) is constructed in order to estimate and compensate the disturbance in an inner feedback loop fusion, such that the outer controller will used to control 'backlash-free' system. Also the issue of torsional vibrations is investigated. Such vibrations are often generated because of the elastic shaft connected between the two masses (usually motor and load inertias). The torsional torque disturbance is estimated and compensated by using the disturbance observer in the same manner as the backlash.

Original languageEnglish
Title of host publication2012 IEEE 27th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2012
DOIs
StatePublished - 2012
Event2012 IEEE 27th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2012 - Eilat, Israel
Duration: 14 Nov 201217 Nov 2012

Publication series

Name2012 IEEE 27th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2012

Conference

Conference2012 IEEE 27th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2012
Country/TerritoryIsrael
CityEilat
Period14/11/1217/11/12

Keywords

  • Backlash
  • backlash compensation
  • disturbance observer
  • two-mass system

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