Method of backlash compensation

Patent metadata

Field	Value
Publication number	US-9052005-B2
Application number	US-201313916226-A
Country	US
Kind code	B2
Filing date	Jun 12, 2013
Priority date	Jun 12, 2013
Publication date	Jun 9, 2015
Grant date	Jun 9, 2015

Abstract

A control method is provided for an electric motor which drives an apparatus through a gear unit. The method includes generating a gear output and input speed signals, low pass filtering the gear speed signals and subtracting the filtered gear input speed signal from the filtered gear output speed signal to provide a relative speed signal. The method also includes high pass filtering the relative speed signal, multiplying the filtered relative speed signal by damping gain value to generate a backlash compensation torque value, and subtracting the backlash compensation torque value from an apparatus control torque value to generate the desired motor torque value.

First claim

We claim:

1. A method of controlling an electric motor connected to an input of a gear unit, the gear unit having an output connected to drive an apparatus, the electric motor being controlled by a motor controller as a function of a desired motor torque value, the method comprising:
generating a gear output speed signal;
generating a gear input speed signal;
low pass filtering the gear output speed signal to provide a filtered gear output speed signal;
low pass filtering th…

Assignees

• Deere & Co

Inventors

• Cross Patrick W
• Spencer Matthew L
• Miller Byron K
• Dawson Jeffrey D

Classifications

• F16H57/00 Primary

  Mechanical Engineering · mapped topic

• Y10T74/19623

  Cross-Sectional Technologies · mapped topic

• H02P17/00 Primary

  Electricity · mapped topic

• H02P23/30

  Electricity · mapped topic

• B60N2205/20

  Operations & Transport · mapped topic