A control method of speed control drive system with backlash

Abstract

This paper proposes a control method of speed control drive system with gear (or coupling) backlash. The proposed controller consists of a PI controller and PD feedback compensation of the gear torque estimated by a disturbance observer. The gains of the controller can be designed by the pole assignment of the closed loop system. Analysis and experiment results show that the differential feedback of the estimated gear torque is effective for the vibrations suppression.