BACKLASH ESTIMATING DEVICE FOR GEAR SPEED REDUCTION SERVO SYSTEM USING FREQUENCY RESPONSE CHARACTERISTICS

摘要

Disclosed is a backlash estimating device for a gear speed reduction servo system using frequency response characteristics. The method of estimating the backlash of a gear speed reduction servo system comprises: a step of generating a frequency table including a first antiresonance frequency and a first resonant frequency in accordance with a size of the gear backlash based on an analytical model modeling the gear speed reduction servo system; a step of estimating a second antiresonance frequency and a second resonant frequency of the gear speed reduction servo system; and a step of estimating the size of the backlash of the gear speed reduction servo system using the measured second antiresonance frequency, the second resonant frequency, and the generated frequency table. As such, by using the frequency response characteristics of estimating the size of the gear backlash, it is able to be estimated by comparing an actually calculated antiresonance frequency value and resonant frequency value with a predetermined table value after saving the antiresonance frequency value and resonant frequency value in the table.;COPYRIGHT KIPO 2016