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. The control model estimates a load speed. The difference between the estimated load speed and the motor speed is calculated dynamically and 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 can be easily integrated into a DSP. This control technique is applied to a mechanical system composed of spur gears. Simulations and experiments show satisfactory control results.
