Journal of the Korea Society for Simulation (한국시뮬레이션학회논문지)

The Korea Society for Simulation (한국시뮬레이션학회)
권호 표지
DOI QR코드

DOI QR Code

The Utilization of Frequency Response Characteristic for the Detection of Change of Backlash Magnitude

백래시 크기 변화 감지를 위한 주파수응답특성의 활용

  • Received : 2015.07.07
  • Accepted : 2015.08.31
  • Published : 2015.09.30
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents the influence of backlash can be greatly increased on the frequency response characteristic which is presented as the angular velocity of a motor to the motor input voltage, if the motor input voltage is adequately reduced. And, this paper verifies theoretically, analytically and experimentally the availability on the method of detecting the change of backlash magnitude by investigating on the change of the anti-resonance and resonance frequencies in the frequency response characteristic due to the change of backlash magnitude. The amount of change of anti-resonance frequency is more useful that of resonance frequency when detecting the change of backlash magnitude, because the change of anti-resonance frequency can be measured more stable. This paper also shows the sharp change of resonance frequency can be investigated when the motor input voltage is enough reduced. The work will be useful for the further research on the backlash estimation method of a servo system with a gear reducer.

본 논문에서는 기어감속 서보시스템의 모터입력전압 크기를 적절히 감소시키면 모터입력전압에 대한 모터각속도에서 나타나는 주파수응답특성에 미치는 백래시 영향이 매우 커지게 됨을 보여 주였다. 또한 주파수응답선도에서 나타나는 반공진 및 공진주파수 변화량을 관찰하여 기어감속 서보시스템 내 기어 백래시 변화를 감지할 수 있는 방법의 유용성을 이론적, 시뮬레이션 및 실험적으로 검증하였다. 반공진주파수 변화가 공진주파수 변화 보다 안정적으로 계측될 수 있으므로 백래시 크기 변화감지 시 반공진주파수 변화량 관찰이 좀 더 유용하며, 공진주파수는 모터입력전압을 충분히 감속시켜야 급격한 변화를 관찰할 수 있음을 보여주었다. 본 연구는 기어감속 서보시스템 내 백래시 크기 변화 감지에 대한 향후 연구에 있어서 유용하게 사용될 수 있을 것이라고 생각한다.

Keywords

References

  1. Dagalakis, N. G. and Myers, D. R., "A Technique for the Detection of Robot Joint Gear Tightness", Journal of Robotic Systems, Vol. 2, No. 4, pp. 414-423, 1985.
  2. Stein, J. L. and Wang, C. H., "Estimation of Gear Backlash: Theory and Simulation," ASME Journal of Dynamic Systems, Measurement and Control, Vol. 120, pp. 74-82, 1998. https://doi.org/10.1115/1.2801324
  3. Sakar, N., Ellis, R. E. and Moore, T. N., "Backlash Detection in Geared Mechanisms: Modeling, Simulation, and Experimentation," Mechanical Systems and Signal Processing, Vol. 11, No. 3, pp. 391-408, 1997. https://doi.org/10.1006/mssp.1996.0082
  4. Pan, M.C., Brussel, H. V., Sas, P. and Verbeure, B., "Fault Diagnosis of Joint Backlash", ASME Journal of Vibration and Acoustics, Vol. 120, pp. 13-24, 1998. https://doi.org/10.1115/1.2893797
  5. Baek, J. H., Kwak, Y. K. and Kim, S. H., "Backlash Estimation of a Seeker Gimbal with Two-Stage Gear Reducers," International Journal of Advanced Manufacturing Technology, Vol. 21, pp. 604-611, 2003. https://doi.org/10.1007/s00170-002-1378-z
  6. Baek, J. H., Hong, S. M., Yang, T. S., Kim, S. H., Kwak, Y. K., "A Study on the Bandwidth of Gear Reduction Servo System According to Backlash and Motor Suppled Voltage," Journal of the Korean Society of Precision Engineering, Vol 19, No. 6, pp. 119-127, 2002.
  7. Slotine, J. E. and Li, W., Applied Nonlinear Control, Prentice-Hall, pp. 175-177, 1991.
  8. Bigley, W. J., "Wideband Base Motion Isolation Control via the State Equalization Technique," Optical Engineering, Vol. 32, No. 11, pp. 2805-2811, 1993. https://doi.org/10.1117/12.148097
  9. Clifford, M., Modern electronic Motors, Prentice Hall, 1990.