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Research on Clearance Elimination Control Based on Linearization
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DOI：10.1109/ACCESS.2021.3128910.png)
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摘要
En 中文
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.
Keyword:
Gears
Torque
Damping
Shafts
Servomotors
Mathematical models
Drives
Backlash
double-motor system
gear transmission system
linearization algorithm
期刊
IF:
3.6
论文数:
9.8W
被引数:
29.4W
机构
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