Dynamic characteristics analysis of gear system with time-varying torque of motor and load based on motor control strategy

Considering the flexibility of the shaft and joints between the motor and the load, the servo drive system can be regarded as a dual-inertia system. Firstly, flexible components in the servo system such as coupling are equivalent to flexible joints, and the servo drive system with transmission efficiency is established. Next, a gear model including the variable friction coefficient, stiffness, backlash, and transmission error is built, and the transmission efficiency is calculated by the gear vibration displacement and speed. Then, the PI controller parameters are obtained by three pole assignment methods, and the adaptive controller with adjustable PID parameters is designed based on the BP neural network. Finally, the speed change at the load side with three pole assignment methods and BP-PID method is analyzed. The effects of control parameters and methods on the dynamic characteristics of gear are studied.