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View Item DRUM A. James Clark School of Engineering Institute for Control systems friction phd thesis Research Technical Reports View Item. JavaScript is disabled for your browser. Some features of this site may not work without it. Dynamics and Control of Geared Servomechanisms with Backlash and Friction Consideration. pdf 3. of downloads: Author Shing, T-K. Advisor Tsai, L-W. Metadata Show full item record. Abstract The main objectives of this research are to develop a control- oriented dynamic model for geared servomechanisms with backlash and friction and to establish systematic methodologies of designing a feedforward plus feedback controller to achieve high precision.
The complicated variation of the meshing stiffness as a function of contact point along the line of action is studied. Then the mean value of the meshing stiffness is used as the stiffness constant in the proposed model, control systems friction phd thesis. Without sliding friction, two, simulations, free vibration and constant load operation, are performed to illustrate the effects of backlash on gear dynamics, control systems friction phd thesis.
Comparisons are also given of the simulation results with those of Yang and Sun's model. Then the average friction torque instead of the instantaneous friction torque is, proposed for the model to simplify the complexity of the system.
Another two simulations are performed to illustrate control systems friction phd thesis effects of backlash and friction on gear dynamics. In addition, the effect of adding a damper on the driving shaft, is also studied. In this dissertation, Filippov's solution concept and his theorems are used to examine the existence and uniqueness properties for the proposed dynamic model. Control systems friction phd thesis, based on the extended stability theorems proposed by Shevitz and Paden, a general methodology is developed for the analysis of the stability, conditions of the equilibrium points for piece-wise continuous systems.
The developed dynamic model is also examined using the above strategy. As a result, accurate position control can not be achieved. In this dissertation, a new open-loop, optimization- based controller is developed to achieve accurate position tracking of a geared servomechanism.
Path generation, selection of appropriate control input function, and optimization techniques for the design of such a controller are discussed. A systematic method of finding appropriate state, feedback gains to reduce the effects of possible load disturbance and model errors is also proposed.
Numerical simulation results indicate that the improvement is quite satisfactory. Collections Institute for Systems Research Technical Reports. Search DRUM. This Collection. Login Register. Pages About DRUM About Download Statistics.
Raichle (Rai) Farrelly_PhD Dissertation Defense
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