Method for determining a deadzone angle of a backlash in a mechanical drive-train system, method for controlling a drive motor controller as well as drive-train system

Dimitrios Papageorgious (Inventor), Mogens Blanke (Inventor), Hans Henrik Niemann (Inventor), Jan H. Richter (Inventor)

Research output: Patent

142 Downloads (Pure)

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 languageEnglish
IPCB25J9/16; G05B19/404
Patent numberWO2018077593
Filing date03/05/2018
CountryInternational Bureau of the World Intellectual Property Organization (WIPO)
Priority date27/10/2016
Priority numberEP20160195975
Publication statusPublished - 2018

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