| With the continuous development of servo system, electromechanicalintegration equipments are required in many industrial fields, resulting in a varietyof applications on deceleration devices. These devices, including large or smallbacklash, worsen the steady-state and dynamic performances of servo control andexacerbate the damage to hardware. Therefore, the research on the identification ofbacklash and the suppression of its negative effects is very significance.This paper first gives an introduction of the study on the backlash of servosystem at home and abroad, including its modeling, recognition amplitude andsuppression measure. Because there are two moments of inertia before and after thebacklash in most servo system, the dead zone model is the selection. According tothe actual experimental platform, several solutions that have clearly physicalmeaning and easy realizable are selected for backlash identification. Thesuppression of backlash is based on its amplitude identification.A brief of the hard ware and software platforms of control system is shownfollowed, including the SVPWM and the accurate adjustment of backlash amplitudeof experimental platform.Then the identification and compensation of the backlash is realized in thesimulation. Several strategies of identification are proposed and simulated one byone. After compensation, the most suitable scheme, the integration of speeddifference, is found and verified by experiment. Backlash compensation includesthe reverse shock and vibration of speed loop; the positioning and limit cycle ofposition loop. For each problem, the rationale, mathematical derivation andcompensation strategy are given. Simulation results show the effectiveness of theseprograms, and the experimental verification is supplied under the allowedconditions. |
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