Gear trains are commonly used in many kinds of servomechanisms to amplify actuator torque as well as transmit power from one shaft to another. However, backlash between meshing gear teeth can cause impact, reduce system stability, and generate noise and undesired vibrations.
Backlash is usually minimized by using precision gear, spring-loaded anti-backlash gears and precise mechanical adjustment. Although these techniques can help reduce the backlash value, its production cost is relatively high and achievable accuracy is limited. Therefore, control strategies to compensate the effect of backlash are required.
This paper proposes backlash model as a nonlinear spring which has a large torsional stiffness. Using this model, the entire gear systems are mathematically modeled. We study the dynamics of gear system with backlash. And we propose the backlash control algorithm which diminishes the effect of backlash.
According to the value of backlash, simulation using backlash control algorithm are carried out for time responses and frequency responses and results are compared with experimental results.
