2003/09/01 by Martin Warnecke, Musa Jouaneh · 1 citation
Engineering · #Acceleration #Allowance (engineering) #Artificial intelligence #Backlash #Classical mechanics #Compensation (psychology) #Computer science #Control (management) #Control engineering #Control theory (sociology) #Engineering #Gear and Bearing Dynamics Analysis #Iterative Learning Control Systems #Jerk #Mechanical engineering #Motion (physics) #Physics #Piezoelectric Actuators and Control #Trajectory #Traverse
paper · doi:10.1115/1.1596241
openalex publication_date 2003/09/01 · openalex created_date 2025/10/10 · openalex updated_date 2026/08/01
This paper presents an approach to reduce the effect of the backlash nonlinearity in systems with relative cyclic motion. A compensation approach is developed to calculate a modified course of input motion for a desired velocity profile in systems with known backlash. The modified input trajectory contains accelerating and decelerating motion features to traverse the backlash area in minimal time. The method was proved with a dc-motor driven gear train. Results show that the output motion delay could be remarkably reduced. The time to overcome the backlash gap depends upon the desired velocity and the amount of backlash introduced to the system. Time savings between 43% and 74% could be measured with the utilized experimental setup. The proposed velocity compensation method is most efficient for low operating speeds and large mounting allowance between gears.