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Speed control of two‐inertia system with gear backlash based on gear torque compensation
Author(s) -
Odai Masaki,
Hori Yoichi
Publication year - 2000
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/1520-6416(20010130)134:2<36::aid-eej5>3.0.co;2-j
Subject(s) - backlash , control theory (sociology) , torque , inertia , vibration , compensation (psychology) , pid controller , gear train , non circular gear , torque motor , engineering , stall torque , observer (physics) , direct torque control , control engineering , computer science , differential (mechanical device) , control (management) , physics , mechanical engineering , induction motor , voltage , artificial intelligence , psychoanalysis , psychology , classical mechanics , thermodynamics , aerospace engineering , temperature control , quantum mechanics , electrical engineering
In this paper, we propose a novel speed control method for a two‐inertia system with gear backlash based on the gear torque compensator. The compensator consists of two elements: the gear torque observer and a feedback gain to be adjusted. The ideal gear torque compensation makes the characteristic from motor torque to motor speed to that of one‐inertia system. However, such a direct usage of the compensator causes harmful vibration due to the torsional shaft. To compromise, we introduce a feedback gain and adjust it. Combining this method with a typical PID controller, we realized superior performances in vibration suppression and disturbance rejection. Its effectiveness is shown by simulations and experiments. © 2000 Scripta Technica, Electr Eng Jpn, 134(2): 36–43, 2001