No-Backlash Control System by Two-Motor Drive (2nd.Report, The Analyses and Experiments of Disturbance Response)

Abstract

This paper describes simulation and experimental results of disturbance responses under a no-backlash drive control, which two motors, as one is for a plus direction and another is for a minus direction, drive a load axis. At first, the plus direction motor and the minus one generate equal offset torque to the load and hold the load axis. When driving the load to the plus direction, the torque of the plus direction motor is made to increase. At this time, the minus one keeps the fixed torque in the reverse direction, forces a cog on the load axis, and cancels the backlash. No-backlash drive was carried out against the disturbance torque of both directions in the simulation and experiments, because a driving motor and a driven motor changed automatically and smoothly. And the vibration of the 1st natural frequency of the mechanical structure should be careful to keep the no-backlash driving.