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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
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
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机译：确定机械传动系统中后弯死角角度的方法，控制传动马达控制器的方法以及传动系统
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摘要
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 (Tl) in the deadzone, determining the deadzone angle (δ) depending on the interconnecting torque (Tl) by means of an adaptive estimator, wherein in the adaptive estimator the backlash is modelled in terms of a variable stiffness (KBL) of the shaft (4).
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机译：本发明涉及一种用于确定机械传动系统（1）中的齿隙的死角（<δ>δ）的方法，其中，传动系统（1）包括驱动电动机（2） ），负载（3）和用于将驱动马达（2）与负载（3）连接的轴（4），该方法包括以下步骤：估算互连扭矩（ T l ），取决于互连转矩（ T δ） > l ），其中，在自适应估计器中，根据可变的刚度（ K BL < / I> ）。
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