| Summary: | 碩士 === 國立臺灣大學 === 電機工程學研究所 === 89 === Abstract
In this thesis a dynamic model of a dual-motor driving
system with backlash effect is derived, a set of control
laws utilizing biasing torque are investigated, and a series
of software simulations as well as hardware experiments are performed to validate the developed theory.
The dual-motor driving systems are able to deliver more power, and have the potential to suppress the backlash effect in the gear system, so in such systems heavier load can be driven, and higher control precision can be reached. Adopting the electro-mechanical system integration approach, we develop controllers with biasing torque control logic and fuzzy control logic to fit the mechanical structure of a given dual motor driving system. The purposes are not only to overcome the adverse backlash effects caused by the gear system, but also to improve the overall system performance and efficiency.
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