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Authors: Mathias Tantau 1 ; Lars Perner 2 ; Mark Wielitzka 1 and Tobias Ortmaier 1

Affiliations: 1 Institute of Mechatronic Systems, Leibniz University Hanover, An der Universität 2, 30823 Garbsen, Germany ; 2 Lenze Automation GmbH, Am Alten Bahnhof 11, D-38122 Braunschweig, Germany

Keyword(s): Backlash Identification, Accelerometer, Electric Drives, Electric Power Trains.

Abstract: In electromechanical motion systems performance measures such as positioning accuracy, dynamic stiffness and control bandwidth are severely limited by backlash. Several control schemes based on backlash compensation or switching control of hybrid systems are known, but many of these approaches require the exact backlash width as an input parameter. Several existing approaches for backlash identification are limited in accuracy because the load-side velocity is required but it is not directly measurable. In this paper a method for backlash identification tailored to electromechanical motion systems with rotary motor and translationally moving load is proposed. A mobile sensor board with inertial measurement unit (IMU) is mounted temporarily on the load and serves to acquire the accelerations during the experiment. The connection to the host-PC is wireless, time synchronisation is not required. It is shown in experiments on a testbed with an adjustable backlash coupling but otherwise i ndustry-like equipment that high accuracies can be achieved. (More)

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Paper citation in several formats:
Tantau, M.; Perner, L.; Wielitzka, M. and Ortmaier, T. (2020). Backlash Identification in Industrial Positioning Systems Aided by a Mobile Accelerometer Board with Wi-Fi. In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-442-8; ISSN 2184-2809, SciTePress, pages 576-584. DOI: 10.5220/0009805305760584

@conference{icinco20,
author={Mathias Tantau. and Lars Perner. and Mark Wielitzka. and Tobias Ortmaier.},
title={Backlash Identification in Industrial Positioning Systems Aided by a Mobile Accelerometer Board with Wi-Fi},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2020},
pages={576-584},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009805305760584},
isbn={978-989-758-442-8},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Backlash Identification in Industrial Positioning Systems Aided by a Mobile Accelerometer Board with Wi-Fi
SN - 978-989-758-442-8
IS - 2184-2809
AU - Tantau, M.
AU - Perner, L.
AU - Wielitzka, M.
AU - Ortmaier, T.
PY - 2020
SP - 576
EP - 584
DO - 10.5220/0009805305760584
PB - SciTePress

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