Title :
Operator based nonlinear compensation of backlash nonlinearity in spur gear pairs
Author :
Tomii, Keiichi ; Mingcong Deng ; Wakitani, Shin ; Shuhui Bi
Author_Institution :
Grad. Sch. of Eng., Tokyo Univ. of Agric. & Technol., Koganei, Japan
Abstract :
This paper presents nonlinear compensation of gear driven systems with a backlash nonlinearity. To begin with, a modified model of spur gear pairs including the backlash nonlinearity using dynamic transmission error (DTE) is shown. Then, this paper shows a design scheme of a nonlinear compensator using operator theory. Finally, the effectiveness of the designed compensator is evaluated by numerical simulations.
Keywords :
compensation; control nonlinearities; control system synthesis; gears; nonlinear control systems; DTE; backlash nonlinearity; dynamic transmission error; gear driven systems; nonlinear compensator design scheme; numerical simulations; operator theory; operator-based nonlinear compensation; spur gear pairs; Actuators; Analytical models; Gears; Mathematical model; Numerical models; Torque; Backlash; Dynamic transmission error; Hysteretic property; Nonlinear control; Operator theory; Spur gear;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6896992
