Application of a PD controller on two mating gears with elasticity and backlash

Author

Indri, Marina ; Tornambè, Antonio

Author_Institution

Dipt. di Autom. e Inf., Politecnico di Torino, Italy

Volume

2

fYear

1997

fDate

10-12 Dec 1997

Firstpage

1984

Abstract

The paper deals with the problems related to the mechanical gears, which are commonly used for manipulators and servomechanisms, when elasticity and backlash affect their connection. The dynamic model of two mating gears is determined in three different cases: in the ideal case, in which the gears are rigid and no backlash is present; when the gears are flexible, in absence of backlash; in a realistic case, in which both the elasticity of the gears and the presence of backlash are to be taken into account. The same control algorithm, a PD one, is then applied to the three different cases, under the assumption that only the position and the velocity of the driving gear are available for feedback. The properties of the solutions of the closed-loop systems thus obtained are studied and analytically proven in the paper. Some simulation results complete and confirm the analysis

Keywords

closed loop systems; control system analysis; dynamics; feedback; mechanical control equipment; two-term control; PD controller; backlash; closed-loop systems; dynamic model; elasticity; feedback; flexible gears; manipulators; mating gears; mechanical gears; servomechanisms; Analytical models; Automatic control; Elasticity; Feedback; Friction; Gears; PD control; Performance analysis; Servomechanisms; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1997., Proceedings of the 36th IEEE Conference on

Conference_Location

San Diego, CA

ISSN

0191-2216

Print_ISBN

0-7803-4187-2

Type

conf

DOI

10.1109/CDC.1997.657892

Filename

657892