Journal of Power System Engineering (동력기계공학회지)

The Korean Society for Power System Engineering (한국동력기계공학회)
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A Study on Response Time Delay and Tracking Error Suppression Strategy in Gear Mechanism : Control System Design Approach

기어 백래쉬로 인한 응답지연 및 추종오차 억제방안에 관한 연구

  • Tran, Manh Son (Department of Mechanical System Engineering, Graduated School, Pukyong National University) ;
  • Choi, Eun-Ho (Department of Mechanical System Engineering, Graduated School, Pukyong National University) ;
  • KIM, Young-Bok (Department of Mechanical System Engineering, Pukyong National University)
  • 만손트란 (부경대학교 대학원 기계시스템공학과) ;
  • 최은호 (부경대학교 대학원 기계시스템공학과) ;
  • 김영복 (부경대학교 기계시스템공학과)
  • Received : 2017.06.27
  • Accepted : 2017.07.19
  • Published : 2017.08.31
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Abstract

The aim of this paper is to solve the chattering and delayed response problems caused by gear backlash. In the gear mechanism based systems, for example, in robot systems, the actuators provide the reduction gear with motors to transfer effectively electric power to mechanical power. Therefore, the gear backlash exists and is an unavoidable fact which makes many undesirable problems. In this paper, the authors try to make a solution for this issue and, introduce several control methods which are PID only, PID with Smith predictor and super-twisting algorithm based SMC(sliding mode control). Each control method is applied to the real plant in which strong backlash is included. By comparison results, it is clear that SMC gives the best control performance with little backlash effects. Also, the usefulness and effectiveness of proposed control method is verified by experiment.

Keywords

References

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