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Topic-icon dual motor system backlash reduction

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6 months 2 weeks ago - 6 months 2 weeks ago #29534307 by krzynios
Hello,
I am trying to use SDC2130 controller to drive dual motor mechanism (2 dc motors, 1 encoder) in closed loop speed mode.
Is it possible to use controller in "zero backlash mode"? The point is to use dual motors like single. There should be a tension (little opposite power when steady and run with low speed) between motors to reduce a backlash when switching direction .
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6 months 2 weeks ago #29534316 by Gabriel_Isko
There definitely isn't a great way to do this built into our firmware. My recommendation would be to use closed loop count position mode to implement your own speed control. I have done something similar in the attached script, which I am starting to keep track of motion control in closed loop count position.

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File Name: Motion_Con...1-28.zip
File Size:1 KB


I don't think this is going to work very well to be honest. We only control at 1KHz, you really require a much higher bandwidth for virtual CAM follower applicaitons. If you still want to try to keep them in check by manually monitoring their position feedback, please let me know how it goes. I would be quite interested.
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6 months 2 weeks ago - 6 months 2 weeks ago #29534326 by krzynios
Thank you for reply.
I will try to implement my thoughts to controller :)
All I need is add a little power CW to MOTOR1 and add the same portion of power CCW to MOTOR2. The power must be added after PID correction.
If you have idea how to do it, please help.
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