Intelligent Control of a Dual-Motor Driving System with Gear Backlash

• Main Authors: Su, Chun-Cheng, 蘇君誠
• Other Authors: Fong, I-Kong
• Format: Others
• Language: zh-TW
• Published: 2001
• Online Access: http://ndltd.ncl.edu.tw/handle/31047960124740599267

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.