Design, Control and Implementation of 2-DOF Motion Tracking Platform using Drive-Anti Drive Mechanism for Compensation of Backlash

Haider, Zarrar; Habib, F.; Mukhtar, Mashood; Munawar, Khalid

doi:10.1109/rose.2007.4373968

Cited by 4 publications

(2 citation statements)

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“…To avoid backlash, some designers, as Arambel et al 23 and Borrello 24 , prefer to use direct drives, but this solution is not always possible, since a stronger actuator, that may be too large or heavy for the system, will be required. Other design techniques can be employed to avoid the harmful effects of backlash in systems with gear transmission, as the drive/antidrive concept, discussed by Haider et al 25 or the auxiliary brakes presented by Gruzman and Weber 26 . Despite the effectiveness of those techniques, they increase the complexity and weight of the target tracking system, since extra components will have to be assembled in the Cardan suspension.…”

Section: Overviewmentioning

confidence: 99%

Time Domain Simulation of a Target Tracking System with Backlash Compensation

Gruzman

Weber

Menegaldo

2009

Mathematical Problems in Engineering

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This paper presents a model of a target tracking system assembled in a moving body. The system is modeled in time domain as a nonlinear system, which includes dry friction, backlash in gear transmission, control input tensions saturation, and armature current saturation. Time delays usually present in digital controllers are also included, and independent control channels are used for each motor. Their inputs are the targets angular errors with respect to the system axial axis and the outputs are control tensions for the motors. Since backlash in gear transmission may reduce the systems accuracy, its effects should be compensated. For that, backlash compensation blocks are added in the controllers. Each section of this paper contains a literature survey of recent works dealing with the issues discussed in this article.

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Section: Overviewmentioning

confidence: 99%

Time Domain Simulation of a Target Tracking System with Backlash Compensation

Gruzman

Weber

Menegaldo

2009

Mathematical Problems in Engineering

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“…Methods to implement this way are described in [11][12][13][14][15][16][17]. Another way is "tandem control", based on phase displacement of control signals for individual electric motors, depending on the calculated coordinates [18][19][20][21][22][23][24]. A feature of this way is the need to carry out a large amount of calculations and build a complex digital control system using microprocessors for its implementation.…”

Section: Introductionmentioning

confidence: 99%

Results of research on backlash compensation in a power electric drive by low-power electronic device

et al. 2022

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This article considers the feasibility of restoring and maintaining the kinematic accuracy of the support-rotary device drives by introducing a backlash compensation device into the control system. The power electromechanical drives of support-rotary device considered in this article contain two motors, the summation of the torques of which is carried out on a common output shaft. It is shown that the restoration of the required kinematic accuracy of the drives can be achieved by introducing one of two variants of an electronic device for backlash compensation into the control system. In the first variant, equal and opposite displacement signals are introduced into the control signals of the motors. The second variant introduces an electronic cross-connections backlash compensation scheme was into the control system. The study of the operation of the support-rotary device drive system with two backlash compensation devices carried out by a simulation method showed that the use of a cross-connection scheme is the most preferable and effective.As a result of the research, it was shown that the introduction of an electronic backlash compensation device into the control system makes it possible to ensure the operability of the power electromechanical drives of a support-rotary device with initial kinematic accuracy.

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