Adaptive Controller Design for Mechanical Transmission Systems with Backlash

Backlash is one of the nonlinear characteristics which has a huge impact to the precision of mechanical transmission systems. This paper proposes methods and experiments on model of a transmission system using lead screw and nut. The anti-backlash methods are backlash inverse and adaptive control. Firstly, mathematical function of backlash and inverse backlash are presented based on research of Gang Tao. After that, model of mechanical transmission are proposed to design an adaptive controller for the systems which have backlash. Finally, the results of the experiments are shown. In this part, the results of backlash inverse and adaptive control are also presented for comparing and discussing.