Study on Nonlinear Backlash of Shipboard Antenna Servo System

Shipboard antenna tracking servo system uses dual-motor technology to overcome the anti-backlash backlash nonlinear transmission system, but when the load torque change quickly or commute, there will be two the motors case through the backlash or one motor at a faster speed bumps tooth surface phenomenon, thereby causing oscillation of the antenna load. Based on the established system model includes aspects of backlash on the system, the amplitude-frequency characteristic analysis, the first, with the increase in the width of the backlash, reduced bandwidth of the system, corresponding to a slower response systems, the more severe the delay, backlash when the end of the second drive, the driven part produced by the collision velocity inconsistent with increasing width of the backlash. the larger of speed control difference of PID becomes, the more serious such a collision. Resulting in the oscillation is possibility, the bandwidth of the system becomes narrow in the amplitude-frequency characteristic diagram.