Title :
A control method of speed control drive system with backlash
Author :
Wu, You ; Fujikawa, Kiyoshi ; Kobayashi, Hirokazu
Author_Institution :
Tech. Res. Lab., Toyo Electr. Mfg. Co. Ltd., Kanagawa, Japan
Abstract :
This paper proposes a control method of speed control drive system with gear (or coupling) backlash. The proposed controller consists of a PI controller and PD feedback compensation of the gear torque estimated by a disturbance observer. The gains of the controller can be designed by the pole assignment of the closed loop system. Analysis and experiment results show that the differential feedback of the estimated gear torque is effective for the vibrations suppression
Keywords :
closed loop systems; compensation; control system synthesis; drives; feedback; pole assignment; two-term control; velocity control; PD feedback compensation; PI controller; backlash; closed-loop system; controller gains; differential feedback; estimated gear torque; gear torque; pole assignment; speed control drive system; vibrations suppression; Control systems; Couplings; Feedback; Gears; Motor drives; Power harmonic filters; Servomechanisms; Shafts; Torque control; Velocity control;
Conference_Titel :
Advanced Motion Control, 1996. AMC '96-MIE. Proceedings., 1996 4th International Workshop on
Conference_Location :
Mie
Print_ISBN :
0-7803-3219-9
DOI :
10.1109/AMC.1996.509321
