2台のサーボモータの協調制御による歯車減速機のバックラッシ補償(第2報) : シミュレーションによる解析と制御アルゴリズムへの適用

概要

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Backlash of reduction gear produces troubles in the case of positioning of robots and NC machine tools. It sometimes causes deterioration of positioning accuracy and self-excited vibration. In our first report, a basic simulation model of backlash model was proposed and conditions of twin motor pinion and output gear was analyzed. Experimental results of servo stiffness improvement and 1 pulse positioning accuracy were reported. In this study, a new control method is proposed which is based on simulation analysis by Matlab/simulink. At first one axis simulation model is developed and it is expanded to twin motor control model. The benefit of the new control method is certified by experiment.
2008-10-05