CAJ | 학술논문

基于齿隙的弹性死区模型，本文对包含齿隙的稳定平台传动系统进行建模，提出了以斜坡阶跃信号作为电机速率的指令信号的时域积分法对齿隙幅值进行实验辨识。该方法通过计算齿隙阶段电机端与负载端速率差的时域积分得到齿隙幅值大小。利用斜坡阶跃信号作为参考信号，不仅可以更好的判断齿轮传动过程中齿隙阶段的开始和结束，还可以减小辨识误差。
기우치극적탄성사구모형，본문대포함치극적은정평태전동계통진행건모，제출료이사파계약신호작위전궤속솔적지령신호적시역적분법대치극폭치진행실험변식。해방법통과계산치극계단전궤단여부재단속솔차적시역적분득도치극폭치대소。이용사파계약신호작위삼고신호，불부가이경호적판단치륜전동과정중치극계단적개시화결속，환가이감소변식오차。
Based on backlashelastic dead zone model, modeling the work of transmission system with backlash was modeled. The time-domain integration method to conduct backlash experimental dentification was put forward, which uses ramp-step signal as command signal for motor rate. The backlash amplitude is obtained by integration of rate error between motor and load during backlash phase. The ramp-step signal not only help judge beginning and ending of backlash gap, but also reduces identification error.