Backlash Estimation for Industrial Drive-Train Systems

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    Backlash in gearing and other transmission components is a common positioning-degrading phenomenon that develops over time in industrial machines. High-performance machine tool controls use backlash compensation algorithms to maintain accurate positioning of the tool to cope with such deadzone phenomena. As such, estimation of the magnitude of deadzones is essential. This paper addresses the generic problem of accurately estimating the width of the deadzone in a single-axis mechanical drive train. The paper suggests a scheme to estimate backlash between motor and load, employing a sliding mode observer and a nonlinear adaptive estimator. The efficacy of the approach is illustrated via simulations
    Original languageEnglish
    Title of host publicationPreprints of the 20th World Congress
    PublisherInternational Federation of Automatic Control
    Publication date2017
    Publication statusPublished - 2017
    EventThe 20th World Congress of the International Federation of Automatic Control - Pierre Baudis Congress center, Toulouse, France
    Duration: 9 Jul 201714 Jul 2017


    ConferenceThe 20th World Congress of the International Federation of Automatic Control
    LocationPierre Baudis Congress center

    Bibliographical note

    MoP20 Invited Session; 'Industrial Fault Diagnosis and Fault-Tolerant Control'


    • Parameter estimation based methods for FDI
    • FDI for nonlinear Systems
    • Condition Monitoring


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