通过延迟继电器反馈识别两质量系统中的反 backlash
Backlash Identification in Two-Mass Systems by Delayed Relay Feedback
AI总结：
本文提出了一种利用单侧传感的两质量系统反 backlash 识别方法，基于延迟继电器反馈诱导稳定可控的极限环，以在未知的 backlash 间隙中操作。
摘要：
反 backlash，也称为机械间隙，是一种分段可导的非线性特性，存在于多个执行系统中，例如齿轮齿条驱动、轴联轴器、齿轮等机械元件。一般来说，反 backlash 存在于复杂动态系统的运动部分之间，这阻碍了其正确检测和识别。一个经典例子是两质量系统，它可以近似许多通过轴（或链接）串联连接的机制，具有相对较高的刚度和反 backlash。关于反 backlash 的存在和程度的信息很少确切已知，而更多取决于组件的磨损、疲劳和初始故障等因素。本文提出了一种新颖的反 backlash 识别方法，利用两质量系统的单侧传感。该方法基于反馈中的延迟继电器操作符，允许在（未知的）反 backlash 间隙中诱导和操作稳定可控的极限环。给出了具有结构转换所需的单侧反 backlash 测量的系统模型，以及延迟继电器在速度反馈中的分析。对于具有约1度反 backlash 间隙的两惯性电机台架进行了实验评估。
英文摘要：
Backlash, also known as mechanical play, is a piecewise differentiable nonlinearity which exists in several actuated systems, comprising, e.g., rack-and-pinion drives, shaft couplings, toothed gears, and other machine elements. Generally, the backlash is nested between the moving parts of a complex dynamic system, which handicaps its proper detection and identification. A classical example is the two-mass system which can approximate numerous mechanisms connected by a shaft (or link) with relatively high stiffness and backlash in series. Information about the presence and extent of the backlash is seldom exactly known and is rather conditional upon factors such as wear, fatigue and incipient failures in the components. This paper proposes a novel backlash identification method using one-side sensing of a two-mass system. The method is based on the delayed relay operator in feedback that allows stable and controllable limit cycles to be induced and operated within the (unknown) backlash gap. The system model, with structural transformations required for the one-side backlash measurements, is given, along with the analysis of the delayed relay in velocity feedback. Experimental evaluations are shown for a two-inertia motor bench that has coupling with backlash gap of about one degree.
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