Damping motor and control approach for mitigating torsional backlash, damping critical geartrain speeds, and providing improved torque control in mechanical gears

A torque damper motor connected to the output side of a mechanical gear system. The damper motor, along with its associated control system, mitigates backlash problems, reduced torsional resonance, and provides improved output torque control. In the preferred embodiment, the damper motor is powered by a power electronics-based variable speed drive. The damper motor can be significantly less powerful than the overall rating of the gear system (typically 5-10% of the overall rating) while still providing the enhanced performance.