Deterministic Method for the Identification of Backlash in the Time Domain

This paper deals with the identification of mechanical backlash in drives. The development of a reliably working identification method as a contribution to automatic commissioning of electrical drives is intended. The main idea for identifying backlash is explained. Measurement results clearly point out the efficiency and flexibility of the identification strategy, which is proposed in this paper. Beyond the determination of the backlash the identification of the linear subsystem is addressed. The obtained identification results can be utilized for designing a controller and for the diagnostics of the actual state of the drive