Open AccessActive vibration control of slewing drives with gear backlash
Author(s) -
M. Spiegelhauer,
Berthold Schlecht
Publication year - 2021
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/1097/1/012011
Subject(s) - backlash , drivetrain , vibration , control theory (sociology) , reversing , torque , rotation (mathematics) , reduction (mathematics) , engineering , vibration control , automotive engineering , computer science , control (management) , mechanical engineering , physics , geometry , mathematics , quantum mechanics , artificial intelligence , thermodynamics
Geared transmissions with high reduction ratios are widely utilized in drive technology. Common to these drives is the occurrence of considerable gear backlash. If operating scenarios with repeated reversals of the rotational direction or changing load directions occur, the backlash will be traversed. To overcome the gear play, rotation angles of several hundred degrees can be required at the motor. As a result, unwanted vibrations can occur and high dynamic loads may arise. It is shown that an active vibration control strategy based on full state feedback (LQG) allows to reduce both the dynamic overload and the time for reversing the drive. The model-based design approach relies on two angular measurements only. Multibody system simulations of an exemplary drivetrain are used to verify the possible improvements.