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안원기(Won Ki Ahn),허욱렬(Uk Youl Huh) 대한전기학회 2006 대한전기학회 학술대회 논문집 Vol.2006 No.10
In mechanical system, gear trains have backlash innately. With the presence of inherent backlash, the overall system performance is limited in many practical control systems. It has been reported that a disturbance observer has the property of effective removing disturbance and cutting measurement noise off. The plant is remodeled with modified disturbance observer to observe and compensate backlash characteristics. And this paper describes a method to design Q filter and to analyze the effects of disturbance and measurement noise to the output. It is shown that the vibration and tracking error caused by backlash were decreased and the time constant and relative degree are important factor to design Q filter.