Specifics of Controlling Mechatronic Systems with Non-Linear Kinematics in Variable Long-Term Tracking Modes

The influence of errors in aligning mechanical coordinates to an electric motor shaft is shown with regard to the process of tracking control of mechatronic systems with backlash in kinematic transmissions. The mechanism of accumulation of errors in determining the difference in angular displacement of electric motor and operating unit shafts, leading to incorrect estimation of backlash status in long-term tracking modes, has been elucidated. A method has been developed and researched to compensate for the impact of mechanical backlash on the work of a tracking mechatronic system, based on simultaneous transformation of compared angular displacements by changing them stepwise by the same value, reduction of errors in measuring and estimating the status of the backlash. Depending on that status, appropriate changes in the controlling device structure are implemented. The high efficiency of this method is confirmed by the results of computer simulation and experimental research, using laboratory and production equipment.