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Controlling a Servo Drive with Backlash in High-Rigidity Power Transmission

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Abstract

This work analyzes the available methods of backlash compensation in servo systems of electric drives with position/contour profile control of working bodies of technological machines. Their main advantages and disadvantages in controlling single-channel electric drives are revealed. These advantages and disadvantages make the systems in question insufficiently efficient when used in the machine-tool construction, metalworking, and in-line equipment for the chemical, textile, and other industries. The typical astatic servo system of an electric drive with cascade current, voltage, and position control is analyzed in detail by correctly applying the harmonic linearization (describing function) method. The reasons for the occurrence of self-oscillations and deterioration in the quality of transient processes of an electric drive with backlash in its mechanical part are revealed. Complementary methods of compensating the influence of backlash by adjusting the properties of the integrating elements in the main position control loop in the case of abrupt changes in kinematics are developed as a result of a frequency analysis of the behavior of the nonlinear system of the electric drive. These methods are implemented using a PI position controller with a switchable integral part and additional stabilizing feedback to the current controller input against the difference in angular displacements of the electric motor and the working body. The efficiency of the theoretical study results is confirmed by a detailed mathematical modeling of the control systems developed for electric drives, as well as by full-scale experiments on a multifunctional test bench.

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Funding

This work was written as part of state assignment no. 075-03-2021-143 from the Ministry of Science and Higher Education and of the Russian Federation.

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Authors and Affiliations

  1. Department of Electronics and Microprocessor Systems, Lenin Ivanovo State Power Engineering University, 153003, Ivanovo, Russia

    S. V. Tararykin & V. V. Apolonskiy

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  1. S. V. Tararykin
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  2. V. V. Apolonskiy
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Correspondence to S. V. Tararykin.

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Translated by S. Kuznetsov

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Tararykin, S.V., Apolonskiy, V.V. Controlling a Servo Drive with Backlash in High-Rigidity Power Transmission. Russ. Electr. Engin. 93, 16–25 (2022). https://doi.org/10.3103/S1068371222010102

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  • DOI: https://doi.org/10.3103/S1068371222010102

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