NDLI: Modeling and robust control of worm-gear driven systems

Content Provider	IEEE Xplore Digital Library
Author	Yeh, T.J. Feng-Kung Wu
Copyright Year	2005
Description	Author affiliation: Dept. of Power Mech. Eng., Nat. Tsing Hua Univ., Hsinchu, Taiwan (Yeh, T.J.; Feng-Kung Wu)
Abstract	This paper investigates modeling and control issues associated with worm-gear driven systems. In the modeling part, both static and dynamic analyses are conducted to investigate the characteristics of the worm-gear. The static analysis reveals not only the non-backdrivability but also the dependency of break-in torques on the loading torque, direction of motion as well as crucial system parameters. The dynamic analysis generates four linear equations of motion, of which , at any particular instant, only one applies. The applicable equation at any given instant depends on the direction of motion and the relative magnitude between the input torque and the loading torque. In the control part, a sliding controller is designed based on the modeling results. The controller can provide robustness against variations of system parameters caused by the speed-dependent nature of the coefficient of friction. Because the dependency of the dynamic equation on the operating condition may render the controller ill-defined in some scenarios, a lemma is proved and can be used to select proper control parameters to guarantee the well-definedness of the controller. The proposed control scheme is applied to a worm-gear driven positioning platform. Experimental results indicate the proposed control system achieves 20% of the tracking error of a conventional PID control.
Sponsorship	IEEE Ind. Electron. Soc. (IES) Chinese Inst. of Autom. Eng. (CIAE) Nat. Sci. Council, Taiwan, R.O.C. Minist. of Educ., Taiwan, R.O.C
Starting Page	711
Ending Page	716
File Size	990177
Page Count	6
File Format	PDF
ISBN	0780389980
DOI	10.1109/ICMECH.2005.1529348
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-07-10
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robust control Sliding mode control Gears Friction Torque Equations Power system modeling Control systems Teeth Motion analysis
Content Type	Text
Resource Type	Article

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