２モータ式ノーバックラッシュ駆動制御システム（モータ慣性差の影響に関する解析及び実験）

抄録

A no-backlash drive control technique which used two motors for forward rotation and reverse rotation to drive one load so as to cancel backlash has been using the same motor so far. However, there is a water gradient on an actual road surface, and we need to turn a steering wheel a little to the right in order to drive the car straight ahead. Therefore, it may be considered to make the right steering motor larger than the left one. In this paper, the effect of the two motor inertia difference on the control system is examined. We evaluate the effect by the analysis and experiment:1) the motor equivalent inertia of the two motors is the geometric mean of the respective inertia, when back calculated from the 1st natural frequency, 2) the damping of the 1st natural frequency increases with an increase in the inertia difference, when the position control gain, the rate control gain, and the reduction ratio are set high, 3) the smaller these set values, the larger the change in the damping characteristic with the inertia difference becomes, 4) the rate control gain has remarkable influence on the change of the damping characteristic , 5) the damping characteristic decreases when the motor inertia is equal and both the forward and the reverse motor inertia increase, on the other hand, the damping characteristic increases when the motor inertia difference increases.