Since there is backlash in the transmission process of the servo system, the gap between the gear teeth in the mechanical transmission system will form a nonlinear position error, which affects the dynamic performance and steady-state accuracy of the system. Therefore, it is necessary to eliminate the backlash in the servo system. By analyzing the anti-backlash principle of the dual-motor servo system, a backlash elimination model based on the bias current method is established. By comparing the effects before and after backlash elimination, it is concluded that the bias current method can effectively eliminate backlash.
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