| Summary: | 碩士 === 中華大學 === 電機工程學系 === 86 === In the precise motion control system, backlash that is always occurred in transmission and coupling devices and is a nonlinear function between input position and output position of device, plays an important role in the accuracy of position control. This thesis studies the backlash compensation techniques to reduce the effect of backlash, For the experimentally obtained system model and backlash model, there are two compensation techniques to be studied and implemented. Moreover, the feedback devices such as encoder and linear scale are considered.
Computer simulations and experiments have been used to verify the usefulness of the algorithms. From the results of experiments, the effect of friction is reduced.
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