Time Domain Simulation of a Target Tracking System with Backlash Compensation

Table 2

Correspondent generalized coordinates.

Variable	Rotor 1 – body 1 set	Rotor 2 – body 2 set
$x_{\text{rel}}=x_B-x_A$	${\mathrm{\Delta }}_{\alpha }=\alpha -\frac{{\alpha }_m}{N_{\alpha }}$	${\mathrm{\Delta }}_{\beta }=\beta -\frac{{\beta }_m}{N_{\beta }}$
$v_{\text{rel}}=v_B-v_A$	${\dot{\mathrm{\Delta }}}_{\alpha }=\dot{\alpha }-\frac{{\dot{\alpha }}_m}{N_{\alpha }}$	${\dot{\mathrm{\Delta }}}_{\beta }=\dot{\beta }-\frac{{\dot{\beta }}_m}{N_{\beta }}$
l	$2·{\eta }_{\alpha }$	$2·{\eta }_{\beta }$