Modeling And Compensation For The Backlash In Mechanical Motion System

In mechanical motion system, because of the driven and driving part is not directly contactbut adopt gear or ball screw, which makes the backlash. If the influence of the backlash can’t beeliminated, the backlash will make the load temporarily out of control and produce shock,therefore it will lead steady-state error, time-delay and limit cycle, which will limit the dynamicperformance, the steady precision of the system and produce additional loss for the mechanicalparts.In this thesis, we take the mechanical motion system as the research object, researching themodeling and compensation for the black in the system. The main work of the research includesthe following:Firstly, by reading a large of references, summarized the reasons causing the backlash inthe mechanical motion system, analyzed the purpose and meaning of the research, reviewed thecurrent research, outlined the main controller design and stablity analysis. Then, the objectiveof this dissertation is proposed.Secondly, different backlash models and compensation approaches are introduced andanalysed and compared. The SRV02-ET mechanical rotation platform is also introduced.Thirdly, establish dynamics model for the backlash nonlinear of the mechanical motionsystem, then transform the modes which can easily be designed. The control law which basedon the Backstepping adaptive is proposed. By chosing the Lyapunov function, design thecontroller which based on the state feedback. The simulation results show that the controllercan stability track the given signal.Fourthly, A robust adaptive controller is designed for the uncertain parameters anddisturbance. The adaptive use project function to deal with the out of parameter range.Simulations resultes are given to demonstrate that the controller is not only in high robustnessto the deadzone, but also effectively reduce the influence of the backlash. At last, apply thecontroller to the platform, the resultes show that the method is effective.Finally, the control methods are summarized and analyzed which describes the advantagesand deficiencies. At last, obtained the prospect of future research.