2台のサーボモータの協調制御による歯車減速檆のバックラツシ補償（事2報）:シミュレーションによる解析と制御アルゴリズムへの適用

摘要

Backlash of reduction gear produces troubles in the case of positioning of robots and NC machine tools. It sometimes causes deterioration of positioning accuracy and self-excited vibration, In our first report a basic simulation model of backlash model was proposed and conditions of twin motor pinion and output gear was analyzed. Experimental results of servo stiffness improvement and 1 pulse positioning accuracy were reported.rnIn this study, a new control method is proposed which is based on simulation analysis by Matlab/simulink. At first one axis simulation model is developed and it is expanded to twin motor control model. The benefit of the new control method is certified by experiment.%工作機械や産業用ロボット半導体製造装置などに使われるrn減速機でほ位置決め時の精度低下や振動を引き起こすバックrnラッシが問題となる．一般的な歯車減速機構では存在するバッrnクラッシにより停止時のサーボ剛性の低下，リミットサイクルrnによみ振動発生などの原因となる．