複数サーボモータの協調制御による精密位置決め法

概要

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Backlash occurs in gear drive systems that are used with machine tools and transport mechanism. The problem with backlash is that it reduces positioning accuracy and tends to make vibrations worse, especially when the driving load is large and a large drive system is used. By using a system with a twin-motor drive, in this paper, a method that compensates for backlash is introduced mechanically. In this method, the phase of a slave motor is displaced depending on the phase of the main drive motor at the final position of the system. This method is suitable for applying to multiple motor drive system. When a pair of motor is driven by the same direction, a double thrust is obtained, of course. At final positioning of this method, the phase between main motor and slave motor is controlled to compensate the backlash. It is shown that this method is effective in increasing the stiffness of a gear drive system and improves the positioning accuracy of the system.