Modeling of backlash in drivetrains

The presence of backlash in drivetrains is a major source of limitations as it introduces nonlinearities that reduce their efficiency in speed and position control. Existing models in backlash assume massless shaft, and use only elasticity and damping properties to describe the transmitted torque. This assumption makes them inaccurate since it does not account for the contribution of the body’s inertia. Thus, a new and simple model that takes into account the rotational inertia, elasticity and damping properties is proposed. The importance and validity of this approach is shown analytically, graphically and with an example of a simple failure case of shaft rupture. Preliminary analysis shows that real system behavior is predicted more closely than in previous model. Thus, the new model can be used for better prediction of system behavior for definition and optimization.