文章基本信息

标题：Backlash estimation for industrial drive-train systems
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作者：Dimitrios Papageorgiou ; Mogens Blanke ; Hans Henrik Niemann 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：3281-3286
DOI：10.1016/j.ifacol.2017.08.621
语种：English
出版社：Elsevier
摘要：AbstractBacklash in gearing and other transmission components is a common positioning-degrading phenomenon that develops over time in industrial machines. High-performance machine tool controls use backlash compensation algorithms to maintain accurate positioning of the tool to cope with such deadzone phenomena. As such, estimation of the magnitude of deadzones is essential. This paper addresses the generic problem of accurately estimating the width of the deadzone in a single-axis mechanical drive train. The paper suggests a scheme to estimate backlash between motor and load, employing a sliding mode observer and a nonlinear adaptive estimator. The efficacy of the approach is illustrated via simulations.
关键词：Keywordsadaptive deadzone estimationmechanical drive-trainparameter estimationsliding-mode observernonlinear parametrization