Suppression of Transient Vibration for Geared Mechanical System with Backlash Using Model-Based Control

Abstract

This paper deals with a control technique of eliminating the transient vibration of a geared mechanical system with backlash. This technique is based on a model-based control in order to establish the damping effect at the driven machine part. The control model of dynamical compensator is composed of a linear reduced-order model related to the velocity control loop and the delay element related to the backlash. The control model estimates a load speed converted to the motor shaft. The difference between the estimated load speed and the motor speed is calculated dynamically, and it is added to the velocity command to suppress the transient vibration of the load. This control model is easily obtained from design or experimental data and its algorithm can be easily installed in a DSP. This control technique is applied to a mechanical system composed of spur gears. Simulations and experiments show satisfactory control results.