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Afterwards, special attention was given to the problems caused by backlash in gear transmission. To reduce its effects a backlash compensation block was included in the stabilization loop. This compensation block consisted of a fuzzy logic controller whose inputs are the tension obtained in the PI controller and the relative angular position and velocity between the driven axis and the rotor divided by the gear ratio.
The output is an extra tension that is added to the tension calculated in the PI controller, assuring that the backlash region is quickly transverse, but with smooth reengagement. The backlash compensation controller can be used in combination with different principal controllers, which in this work corresponds to the inner loop PI controller. It provides compensation signal to the output of the main controller, instead of changing its inputs, as usual in traditional backlash compensation techniques.
By last, results of numerical simulation were presented. It is shown the improvement in performance of a system that has large backlash in gear transmission, but whose controller has been previously tuned to work without backlash. A suggestion for future work is the inclusion of noise and sensors inaccuracy in the model.
Acknowledgment The authors gratefully acknowledge the support of CNPq. References  M. Brdys and J. Littler, "Fuzzy logic gain scheduling for non-linear servo tracking," International Journal of Applied Mathematics and Computer Science, vol.
Gruzman, H. Weber, and L. Kennedy and R. Pasino and S. Astrom and R. Downs, S. Smith, J. Schwickert, and L.
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Baek, Y. Kwak, and S. Kim, "Backlash estimation of a seeker gimbal with two-stage gear reducers," International Journal of Advanced Manufacturing Technology, vol. Dupont, V. Hayward, B. Armstrong, and F. Lampaert, J. Swevers, and F. Al-Bender, "Comparison of model and non-model based friction compensation techniques in the neighbourhood of pre-sliding friction," in Proceedings of the American Control Conference AAC '04 , vol. Makkar, W. Dixon, W. Sawyer, and G.
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Bjorklund, "Friction models for sliding dry, boundary and mixed lubricated contacts," Tribology International, vol. Piedbreuf, J. Hurteau, "Friction and stick-slip in robots: simulation and experimentation," Multibody System Dynamics, vol. Ruggiero and V.
Arambel, R. Mehra, B. Bradley, et al. Haider, F. Habib, M. Mukhtar, and K. Gruzman and H. Weber, "Simulation of a positioning system with backlash, flexibility and a proportional controller aided by a brake," in Proceedings of the 15th International Workshop on Dynamics and Control, Barcelona, Spain, Rzasa, Design and application of pan and tilt servo gimbals in pointing, acquisition and tracking, M.
Gutman, "Controlling mechanical systems with backlash—a survey," Automatica, vol.
Menon and K. Krishnamurthy, "Control of low velocity friction and gear backlash in a machine tool feed drive system," Mechatronics, vol.
Moscrop, Modelling, analysis and control of linear feed axes in precision machine tools, Ph. Kim, U.
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