Control Strategy of Transmission Mechanism Based on Load Torque Feedforward Strategy

Nonlinear factors in mechanical transmission systems lead to the problem of limited control accuracy and speed. Most of the existing studies focus on the modeling and control of a single nonlinear factor, but ignore the complexity of multiple nonlinear factors in transmission mechanism, such as friction, elasticity and backlash, and so on. In this paper, a control method based on the load torque feedforward strategy is proposed. A torque observer is designed to identify load torque and reduce nonlinear effects by feedforward compensation. The simulation results show that the proposed method significantly improves the stability and speed response of the system, and effectively makes up for the shortcomings of the existing research.