DOI: 10.18419/darus-5160
title: Replication Data for: Compensation of the Transmission Errors in Electrically Preloaded Rack-and-Pinion Drives

description: &lt;p&gt;This dataset contains all experimental data that is shown within the paper "Compensation of the Transmission Errors in Electrically Preloaded Rack-and-Pinion Drives".&lt;/p&gt;

Large machine tools with long feed axes commonly utilize electrically preloaded rack-and-pinion drives, where two redundant drives on one axis are preloaded against each other by a dedicated control loop. Manufacturing- and assembly-related tolerances and elastic deformations lead to transmission errors in the drivetrains, that limit the achievable accuracy. Due to the limited bandwidth of the position control, these cannot be fully suppressed despite the use of linear measuring systems. In this paper, the superposition of the individual errors of the two drivetrains of electrically preloaded systems and the transfer function to the resulting path errors are theoretically derived in a first step. In addition, the negative effect of transmission errors on the preload control is investigated. To address the issue, an error compensation for the position and preload control loops is implemented. The basis for this are models of the state-dependent transmission errors utilizing a two-stage machine learning approach. The achievable reduction of path errors is validated in experimental investigations on a test bench and averages 57.8 % for the measurements conducted.

&lt;br&gt; &lt;br&gt;
&lt;p&gt;The data are structured to correspond to the figures in the publication and are available in CSV format:&lt;/p&gt;

&lt;ul&gt;
 &lt;li&gt;
 &lt;strong&gt;Fig. 3 Transmission error measurements&lt;/strong&gt;: 
 Measured transmission errors of both drivetrains for both directions of transmitted force under varying preload torque.
 &lt;ul&gt;
 &lt;li&gt;&lt;em&gt;Fig_3_TE_measurements_D2_positive&lt;/em&gt;: Transmission errors of drive 2 for positive transmitted forces&lt;/li&gt;
 &lt;li&gt;&lt;em&gt;Fig_3_TE_measurements_D2_negative&lt;/em&gt;: Transmission errors of drive 2 for negative transmitted forces&lt;/li&gt;
 &lt;li&gt;&lt;em&gt;Fig_3_Supplement_TE_measurements_D1_positive&lt;/em&gt;: Transmission errors of drive 1 for positive transmitted forces (not shown in the publication)&lt;/li&gt;
 &lt;li&gt;&lt;em&gt;Fig_3_Supplement_TE_measurements_D1_negative&lt;/em&gt;: Transmission errors of drive 1 for negative transmitted forces (not shown in the publication)&lt;/li&gt;
 &lt;/ul&gt;
 &lt;/li&gt;

 &lt;li&gt;
 &lt;strong&gt;Fig. 4 Superimposed transmission errors&lt;/strong&gt;: 
 Individual transmission errors of both drivetrains and corresponding superimposed overall error for an exemplary motion.
 &lt;/li&gt;

 &lt;li&gt;
 &lt;strong&gt;Fig. 6 Path errors&lt;/strong&gt;: 
 Comparison of calculated and measured path errors for different velocities with no external load.
 &lt;/li&gt;

 &lt;li&gt;
 &lt;strong&gt;Fig. 7 Preload errors&lt;/strong&gt;: 
 Control error of the preload control for different velocities with no external load.
 &lt;/li&gt;

 &lt;li&gt;
 &lt;strong&gt;Fig. 10 Compensation validation motion&lt;/strong&gt;: 
 Evaluation of the compensation of the path and preload errors for an exemplary linear motion with an external load.
 &lt;/li&gt;

 &lt;li&gt;
 &lt;strong&gt;Fig. 11 Compensation validation overall&lt;/strong&gt;: 
 Evaluation of the improvement of the path accuracy by the compensation for varying external loads and velocities. There is one file for each of the three examined velocities of 50 mm/s, 75 mm/s and 100 mm/s.
 &lt;/li&gt;
&lt;/ul&gt;