능동 하모닉 기어구동시스템의 동기화제어

Abstract

The backlash is one of the parameters what make unstable control in the servo system driven by gears. Especially the backlash causes that servo system can't reach desired performances in Line-of-sight(LOS) stabilization system which needs high level accuracy and response, because the backlash limits mechanical performance. Therefore the LOS stabilization system is normally equipped with direct motors to ensure the zero backlash. And a direction driven by gears is used to sub-drive. The directly driven motor system can achieve good linearity, while it is expensive and has low torque comparing to an equipment volume. A servo system can improve driving performance by improvement of control system. However in case of the LOS stabilization system, normally it operates in tough environment. Therefore, although the LOS stabilization system is controled very well, there is the effect of a backlash. This paper realizes the zero backlash system. To realize the zero backlash the driven gear in the servo system is running by double driving gears. To stabilize the system, a controller is designed by restraining on the backlash. The overall control principle is that the driven gear is constrained by slight difference of velocity between the control gear for positioning and the tracking gear, to follow the control gear in driving. And it keeps the zero backlash actively while the LOS stabilization system is driven. In this way, the displayed video of the LOS stabilization system can be stable under the zero backlash system. Because it won't have an overshoot, a steady-state error, etc. In addition, a high performance LOS stabilization system could be realized by ensuring the fast responsibility and the wide bandwidth.