Compound Mechanism Analysis of Backlash and Friction Nonlinearity in Full-Closed-Loop Servo Drive System

Full closed loop servo drive system is widely used in industry and medical field, and it is an ideal control scheme to achieve high precision position control. In this paper, by analyzing the dead-zone model of backlash and LuGre friction model, a compound two-mass full-closed-loop system with backlash and friction is established. The position response of the compound system is analyzed by description function method and simulation. Finally, it is concluded that friction can eliminate the characteristic of the limit cycle by the backlash, and the amplitude of the backlash will affect the duration of the flat at the crest.