Speed control of two-inertia system with gear backlash based on gear torque compensation

Abstract

In this paper, we propose a novel speed control method for a two-inertia system with gear backlash based on the gear torque compensator. The compensator consists of two elements: the gear torque observer and a feedback gain to be adjusted. The ideal gear torque compensation makes the characteristic from motor torque to motor speed to that of one-inertia system. However, such a direct usage of the compensator causes harmful vibration due to the torsional shaft. To compromise, we introduce a feedback gain and adjust it. Combining this method with a typical PID controller, we realized superior performances in vibration suppression and disturbance rejection. Its effectiveness is shown by simulations and experiments. © 2000 Scripta Technica, Electr Eng Jpn, 134(2): 36–43, 2001