Replication Data for: Compensating for Backlash in Rack-and-Pinion Drives Using Gain-Scheduled Cascade Control

In order to compensate for the inherent backlash of rack-and-pinion drives commonly used as feed drives in large machine tools, the paper presents a gain scheduling algorithm for the position controller of conventional cascade control. The backlash compensation is validated experimentally using validation trajectories derived from experimental investigations of the behavior of rack-and-pinion drives with backlash.

The presented gain scheduling scheme shows improved tracking performance on a test bed consisting of high-precision industrial components. This dataset allows reproducing the figures from the paper: figure2_data.csv: Measurement data of the transmission error between the motor and the slide on the test bed at a velocity of 10 mm/s figure2.m: Script for reproducing Figure 2 from the paper figure3_data.csv: Measurement data of the transmission error and tracking error for different acceleration profiles without backlash compensation figure3.m: Script for reproducing Figure 3 from the paper figure5_data.csv: Measurement data of the transmission error and tracking error for pairs of comparable measurements with and without compensation figure5.m: Script for reproducing Figure 5 from the paper