Analysis and Controller Design of a Mismatch Dual-Motor Driving System with Gear Backlash
Date Issued
2005
Date
2005
Author(s)
Yang, Feng-Wei
DOI
zh-TW
Abstract
The dual-motor driving system is able to deliver more power, and has the potential to suppress the backlash effect in the gear system, but the control of such system is more complicated. This thesis discusses the position and velocity control problems of dual-motor driving systems, with emphasis on the backlash effect. PID controllers augmented by the balanced control laws are designed to improve the system performance.
Firstly a dynamic model of a dual-motor driving system with gear backlash effect is derived, and the control laws are designed for simulation. The position and velocity control of the dual-motor driving system are implemented in hardware experiments. According to the experimental results, this thesis also discusses the influence on the system performance caused by different control laws. The hardware experiments are implemented with a friendly graphical user interface written in BCB 6.0○R under the Windows 2000 professional○R operating system.
Subjects
雙馬達
齒隙效應
馬達模型
PID控制器
預力
Dual-motor
Backlash effect
PID controller
Balanced force
Type
thesis
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