New Models and Identification Methods for Backlash and Gear Play
New Models and Identification Methods for Backlash and Gear Play
复制标题
齿隙和齿轮间隙的新模型和识别方法
DOI：
10.1007/978-1-4471-3687-3_1
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发表时间：
2001
期刊：
影响因子：
--
通讯作者：
P. Gutman
中科院分区：
文献类型：
--
作者：
M. Nordin;P. Bodin;P. Gutman
齿隙是限制工业驱动器速度控制性能的最重要的非线性因素，也是位置控制的重要障碍。针对连接到齿隙元件的具有内部阻尼的弹性轴，导出了基于相平面分析的简单模型。该模型扩展到包括部分填充橡胶的挠性联轴器的情况。将测量结果与模拟进行比较，结果发现非常吻合。通过内部阻尼，经典死区模型可以预测动力学的非物理行为，这一功能在新模型中得到了纠正。在大多数工业系统中，齿隙出现在闭环中，无法直接访问齿隙输入或输出的测量结果。通常只能访问电机速度测量值。为了设计包含齿隙的机械驱动系统的高效控制器，对齿隙间隙进行良好的估计是有益的。提出了一种识别带齿隙的速度控制弹性两质量系统中齿隙间隙的方法。这个想法是将与电机扭矩相同的正弦波信号注入机械设备和仿真模型中。通过调整模型的齿隙间隙直到测量的电机速度幅度与模拟的电机速度幅度一致，可以获得齿隙间隙大小的估计值。通过描述函数分析来选择输入电机扭矩的频率和幅值。该方法快速、准确度高，并且只需要测量电机速度。
Backlash is the most important nonlinearity that limits the performance of speed control in industrial drives, and is an important impediment to position control as well.A simple model based on phase plane analysis is derived for an elastic shaft with internal damping connected to a backlash element. The model is extended to include the case of a flexible coupling partly filled with rubber. Measurements are compared with simulations and found to fit very well.With internal damping, the classical dead zone model predicts nonphysical behavior of the dynamics, a feature that is corrected in the new model.In most industrial systems the backlash appears in closed loop, without direct access to measurements of either the input or the output of the backlash. Typically there is access only to motor speed measurements. In order to design an efficient controller for mechanical drive systems including backlash, it is of benefit to have a good estimate of the backlash gap.A method to identify the backlash gap in speed controlled elastic two-mass systems with backlash is presented. The idea is to inject the same sinewave signal as the motor torque into the mechanical plant, and into the simulation model. By adapting the backlash gap of the model until the measured and the simulated motor speed amplitudes coincide, an estimate of the backlash gap size is obtained. Describing function analysis is used to choose the frequency and amplitude of the input motor torque. The method is fast, has high accuracy, and requires only motor speed measurements.