Abstract
The invention relates to a method for determining a deadzone angle (δ) of a backlash in a mechanical drive-train system (1), wherein the drive train-system (1) comprises a drive motor (2), a load (3) and a shaft (4) for connecting the drive motor (2) with the load (3), the method comprising the steps: estimating an interconnection torque (T l ) in the deadzone, determining the deadzone angle (δ) depending on the interconnecting torque (T l ) by means of an adaptive estimator, wherein in the adaptive estimator the backlash is modelled in terms of a variable stiffness (K BL ) of the shaft (4).
| Original language | English |
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| IPC | B25J9/16; G05B19/404 |
| Patent number | WO2018077593 |
| Filing date | 03/05/2018 |
| Country/Territory | International Bureau of the World Intellectual Property Organization (WIPO) |
| Priority date | 27/10/2016 |
| Priority number | EP20160195975 |
| Publication status | Published - 2018 |