Backlash Compensation of Reduction Gears by Twin Motor Cooperative Control (2nd Report)

摘要

Backlash of reduction gear produces troubles in the case of positioning of robots and NC machine tools. It sometimes causes deterioration of positioning accuracy and self-excited vibration. In our first report, a basic simulation model of backlash model was proposed and conditions of twin motor pinion and output gear was analyzed. Experimental results of servo stiffness improvement and 1 pulse positioning accuracy were reported.In this study, a new control method is proposed which is based on simulation analysis by Matlab/simulink. At first one axis simulation model is developed and it is expanded to twin motor control model. The benefit of the new control method is certified by experiment.