基于反步控制协同轴转矩观测器的全闭环齿轮传动伺服系统极限环振荡抑制

To address the problem of gear clearance causing the limit cycle oscillation at the positioning end, further deteriorating the positioning accuracy of the servo system, and even causing tooth breakage in severe cases, a backstepping control (BC) method based on shaft torque observer (STO) is proposed in this article for a fully closed-loop gear transmission servo system. First, a gear transmission...