To constitute a backlash model which can handle a collision of a gear tooth and effectively perform damping control over a multiple-inertia axial torsion system by using the model.
The gear backlash model part 1b which can handle the collision phenomenon of a gear tooth is constituted by using the spring constant Kg and inertia Jg2 and Jmg1 (including the inertia of an electric motor) of the gear, and an electric motor speed pxm is inputted to the model part 1b to perform the damping control over the multiple inertia axial torsion system. Further, a PD feedback compensation part 3 calculates estimated gear torque Tge from the torque command T* and electric motor speed ω III of the electric motor and performs the proportional plus derivative feedback compensation of the estimated gear torque Tge to a precedent stage where the torque command T* of the electric motor is obtained to effectively suppress backlash vibration and axial torsional vibration.
FUJIKAWA ATSUSHI
KOBAYASHI HIROKAZU
