CN105156654B - RPDC electric synchronizations backlash eliminating equipment and its gap method that disappears - Google Patents
RPDC electric synchronizations backlash eliminating equipment and its gap method that disappears Download PDFInfo
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- CN105156654B CN105156654B CN201510612807.5A CN201510612807A CN105156654B CN 105156654 B CN105156654 B CN 105156654B CN 201510612807 A CN201510612807 A CN 201510612807A CN 105156654 B CN105156654 B CN 105156654B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
- F16H2057/123—Arrangements for adjusting or for taking-up backlash not provided for elsewhere using electric control means
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
A kind of RPDC electric synchronizations backlash eliminating equipment of present invention offer and its gap method that disappears, the RPDC electric synchronizations backlash eliminating equipment include：Main motor, from motor, master driver and from driver；The main motor is electrically connected with the master driver, described to be electrically connected from motor from driver with described；The master driver is electrically connected with described from driver, and real-time exchange synchronous backlash-eliminating parameter.The present invention is by being arranged the master driver and described respectively driving the main motor from driver and described realize that electric synchronization disappears gap function, does not need the Upper systems intervention such as PLC, motion controller or CNC from motor；The master driver and described shorter synchronizing cycle from data between driver, only about 125 μ s, the gap that disappears fast response time, precision are high；The master driver with it is described from driver real-time exchange, average current reference value, ensure the main motor and described from motor torque equilibrium.
Description
Technical field
The invention belongs to field of electromechanical integration, more particularly to a kind of RPDC electric synchronizations backlash eliminating equipment and its gap side that disappears
Method.
Background technology
On large-scale, heavy machine tool, straight-line feed axis is usually using the kind of drive of rack-and-pinion, rotating shaft generally use
The problem of kind of drive of gear-wheel gear-ring, the engagement between gear certainly exists mechanical clearance, which can reduce gear drive
Efficiency, accelerate gear wear, and the problems such as the mechanical rigid of entire transmission system can be reduced, easy to produce resonance, noise,
It is final to influence lathe operating accuracy.Therefore, how to eliminate that mechanical clearance is large-scale, heavy machine tool has to solve the problems, such as.
Traditional machine tool generally eliminates mechanical clearance in such a way that Double-gear reversely pre-tightens, and pretightning force is filled by machinery
With realization, i.e. mechanical synchronization disappears gap.If pretightning force is realized by the tension between two servo motors of driving gear, claim
Disappear gap for electric synchronization.Disappear gap relative to traditional mechanical synchronization, the gap that electrically disappears method has the following advantages：
1. resetting and absolute fix precision higher.
2. avoiding complicated mechanical structure, machine cost is reduced.
3. the gap that disappears parameter is configurable, using flexible, application surface is wider.
However, existing electric synchronization disappears in gap method, need by PLC (Programmable Logic
Controller, programmable logic controller (PLC)), (Computer Numerical Control are calculated by motion controller or CNC
Machine numerical control system) etc. Upper systems carry out intervene could realize synchronous backlash-eliminating function；Meanwhile existing electric synchronization disappears gap
In method, the gap that disappears response speed is slower, and precision is not high enough.
The present invention is directed to the shortcomings that existing electric synchronization backlash eliminating equipment, proposes a kind of RPDC (Rack and Pinion
Drive Control, the drive control of wheel and rack) electric synchronization backlash eliminating equipment and its gap method that disappears.
Invention content
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide a kind of RPDC electric synchronizations disappear gap dress
It sets and its gap method that disappears, disappears that needed existing for gap could be real by Upper system intervention for solving electric synchronization in the prior art
Existing synchronous backlash-eliminating function and the gap response speed that disappears are slower, the not high enough problem of precision.
In order to achieve the above objects and other related objects, the present invention provides a kind of RPDC electric synchronizations backlash eliminating equipment, described
RPDC electric synchronization backlash eliminating equipments include：Main motor, from motor, master driver and from driver；
The main motor is electrically connected with the master driver, described to be electrically connected from motor from driver with described；
The master driver is electrically connected with described from driver, and real-time exchange synchronous backlash-eliminating parameter.
A kind of preferred embodiment of RPDC electric synchronization backlash eliminating equipments as the present invention, the master driver and described from drive
Sync card is equipped in dynamic device, the master driver and described realized from driver by the sync card are electrically connected, and pass through
The sync card real-time exchange synchronous backlash-eliminating parameter.
As the present invention RPDC electric synchronization backlash eliminating equipments a kind of preferred embodiment, the RPDC electric synchronizations disappear gap dress
Set further includes gear and rack or gear ring；The main motor and the gear and institute corresponding suitable for driving from motor
State rack or gear ring engagement.
A kind of preferred embodiment of RPDC electric synchronization backlash eliminating equipments as the present invention, the main motor and described from motor
Be servo motor, the master driver and it is described from driver be servo-driver.
A kind of preferred embodiment of RPDC electric synchronization backlash eliminating equipments as the present invention, it is described that work is additionally provided with out of driver
Skill adjustment module, the process adjustments module are electrically connected with the master driver.
A kind of preferred embodiment of RPDC electric synchronization backlash eliminating equipments as the present invention, the master driver is interior to be equipped with position
Control module and First Speed control module, it is described that second speed control module is equipped with out of driver；
The position control module is suitable for obtaining reference velocity according to the physical location and reference position of the master driver
Value；
The input terminal of the First Speed control module and the second speed control module and the position control module
Output end electrical connection, it is electric suitable for respectively obtaining the first torque according to the difference of respective values for actual speed and the reference speed value
Flow reference value and the second torque current reference value；
The input terminal of the process adjustments module and the First Speed control module and the second speed control module
Output end electrical connection, and the output end of the process adjustments module and the input terminal of the second speed control module are electrically connected
Both it connects, suitable for the first torque current reference value and the second torque current reference value are compared, and compensate
Deviation.
A kind of preferred embodiment of RPDC electric synchronization backlash eliminating equipments as the present invention is additionally provided with the in the master driver
One current control module, it is described that the second current control module is additionally provided with out of driver：
The input terminal of first current control module is electrically connected with the output end of the First Speed control module, is suitable for
Control main motor actual current value be superimposed with the gap bias current that disappears by the first torque current reference value after compensating after
The first input reference current value is obtained to be consistent；
The input terminal of second current control module is electrically connected with the output end of the second speed control module, is suitable for
After controlling from the actual current value of motor and being subtracted each other with the gap bias current that disappears by the second torque current reference value after compensating
The second input reference current value is obtained to be consistent.
The present invention also provides a kind of gap method that disappears of PPDC electric synchronizations backlash eliminating equipment, the gap method that disappears includes：
There is provided master driver, from driver, main servo motor and from servo motor, the master driver and the main servo
Motor is electrically connected, described to be electrically connected from driver from servo motor with described, the main servo motor and described from servo motor
Respectively drive respective wheel and rack or gear ring engagement；
When equipment is static, the main servo motor and it is described from servo motor in the master driver and described from driver
Control under generate the gap tension that disappears that size is identical, direction is opposite, to eliminate mechanical clearance；
When equipment works, if load is less than the gap tension that disappears, the main servo motor goes out force direction with described from servo motor
On the contrary, the difference of the main servo motor and the torque from servo motor is load torque；If load is more than the gap tension that disappears, institute
It states main servo motor and goes out from servo motor that force direction is identical with described, the main servo motor and the torque from servo motor
The sum of be the load torque.
A kind of preferred embodiment of the gap method that disappears of RPDC electric synchronization backlash eliminating equipments as the present invention, the main servo electricity
Machine and described generate under the master driver and the control from driver that size is identical, direction is opposite from servo motor
The gap that disappears tension, the specific method to eliminate mechanical clearance are：
According to deviations of actual position, reference speed value is obtained；
The reference of the first torque current is obtained according to the difference of the values for actual speed of the master driver and the reference speed value
Value；The second torque current reference value is obtained according to the difference of the values for actual speed from driver and the reference speed value；
Both the first torque current reference value and the second torque current reference value are compared, and compensated
Deviation；
Output is to the main servo after the gap bias current that will disappear is handled with the first torque current reference value after compensation
Motor, the gap bias current that will disappear is with output after the second torque current reference value processing after compensation to described from servo electricity
Machine.
A kind of preferred embodiment of the gap method that disappears of RPDC electric synchronization backlash eliminating equipments as the present invention, by first power
The electric current that square current reference value obtains after being added with the gap bias current that disappears is exported to the main servo motor：By described second
The electric current that torque current reference value obtains after subtracting each other with the gap bias current that disappears is exported to described from servo motor.
As described above, the RPDC electric synchronizations backlash eliminating equipment of the present invention and its gap method that disappears, have the advantages that：
(1) realizes that electric synchronization disappears gap function by driver, does not need the upper system such as PLC, motion controller or CNC
System is intervened.
(2) master driver and, only about 125 μ ss shorter synchronizing cycle from data between driver, the gap that disappears fast response time,
Precision is high.
(3) master driver ensures two motor torque equilibriums with from driver real-time exchange, average current reference value.
Description of the drawings
Fig. 1 shows the connection diagram of the RPDC electric synchronization backlash eliminating equipments provided in the embodiment of the present invention one.
Fig. 2 shows in the embodiment of the present invention one in the RPDC electric synchronization backlash eliminating equipments that provide master driver and from driver
Structural schematic diagram.
Fig. 3 is shown as the flow of the gap method that disappears of the RPDC electric synchronization backlash eliminating equipments provided in the embodiment of the present invention two
Figure.
Component label instructions
1 main motor
2 from motor
3 master drivers
31 position control modules
32 First Speed control modules
4 from driver
41 process adjustments modules
42 second speed control modules
5 sync cards
Specific implementation mode
Illustrate that embodiments of the present invention, those skilled in the art can be by this specification below by way of specific specific example
Disclosed content understands other advantages and effect of the present invention easily.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also be based on different viewpoints with application, without departing from
Various modifications or alterations are carried out under the spirit of the present invention.
It please refers to Fig.1 to Fig.3 it should be noted that the diagram provided in the present embodiment only illustrates this hair in a schematic way
Bright basic conception, though in diagram only display and related component in the present invention rather than component count when according to actual implementation,
Shape and size are drawn, when actual implementation kenel, quantity and the ratio of each component can be a kind of random change, and its component
Being laid out kenel may also be increasingly complex.
Embodiment one
It please refers to Fig.1 to Fig. 2, the present invention provides a kind of RPDC electric synchronizations backlash eliminating equipment, and the RPDC electric synchronizations disappear
Gap device includes：Main motor 1, from motor 2, master driver 3 and from driver 4；The main motor 1 and 3 electricity of the master driver
Connection, it is described to be electrically connected from motor 2 from driver 4 with described；The master driver 3 is electrically connected with described from driver 4, and real
When exchange synchronous backlash-eliminating parameter.
As an example, the master driver 3 and it is described be equipped with sync card 5 out of driver 4, the master driver 3 and
Described realized from driver 4 by the sync card 5 is electrically connected, and passes through 5 real-time exchange synchronous backlash-eliminating parameter of the sync card.
As an example, the RPDC electric synchronizations backlash eliminating equipment further includes gear (not shown) and rack (not shown) or tooth
Enclose (not shown)；The main motor 1 and the gear corresponding suitable for driving from motor 2 and the rack or gear ring
Engagement.
As an example, the main motor 1 and it is described from motor 2 can be servo motor, the master driver 3 and described
Can be servo-driver from driver 4.
Be additionally provided with process adjustments module 41 out of driver 4 as an example, described, the process adjustments module 41 with it is described
Master driver 3 is electrically connected；The process adjustments module 41 is suited to compensate for the current difference between two drivers.
As an example, referring to Fig. 2, being equipped with position control module 31 and First Speed control mould in the master driver 3
Block 32, it is described that second speed control module 42 is equipped with out of driver 4.The position control module 31 is suitable for according to the main drive
The physical location of dynamic device 3 and the difference of reference position obtain reference speed value；The First Speed control module 32 and described second
The input terminal of rate control module 42 is electrically connected with the output end of the position control module 31, is suitable for according to respective practical speed
The difference of angle value and the reference speed value respectively obtains the first torque current reference value and the second torque current reference value；The work
The output end of the input terminal of skill adjustment module 41 and the First Speed control module 32 and the second speed control module 42
Electrical connection, and the output end of the process adjustments module 41 is electrically connected with the input terminal of the second speed control module 42, is fitted
It is compared in by the first torque current reference value and the second torque current reference value, and compensates the deviation of the two.
As an example, the first current control module (not shown) is additionally provided in the master driver 3, it is described from driver 4
Inside it is additionally provided with the second current control module (not shown)；The input terminal of first current control module and the First Speed control
The output end of molding block 32 is electrically connected, suitable for will be folded with the gap bias current that disappears by the first torque current reference value after compensating
The first input reference current value is obtained after adding and is converted into corresponding PWM (pulse width modulation) duty cycle signals, makes the main electricity
Actual current moment tracking the first input reference current value of machine 1, and control actual current value and the institute of the main motor 1
The first input reference current value is stated to be consistent；The input terminal of second current control module controls mould with the second speed
The output end of block 42 is electrically connected, suitable for it will be subtracted each other with the gap bias current that disappears by the second torque current reference value after compensating after
It obtains the second input reference current value and is converted into corresponding PWM (pulse width modulation) duty cycle signals, make described from motor 2
Actual current moment tracking the second input reference current value, and control defeated from the actual current value of motor 2 and described second
Enter reference current value to be consistent.
It should be noted that the technique adjustment module 41, the position control module 31, the First Speed control mould
Block 32, first current control module, the second speed control module 42 and second current control module are void
Quasi- module.
The present invention by be arranged the master driver 3 and it is described from driver 4 respectively drive the main motor 1 and it is described from
Motor 2 realizes that electric synchronization disappears gap function, does not need the Upper systems intervention such as PLC, motion controller or CNC；The main driving
Device 3 and described shorter synchronizing cycle from data between driver 4, only about 125 μ s, the gap that disappears fast response time, precision are high；It is described
Master driver 3 with it is described from 4 real-time exchange of driver, average current reference value, ensure the main motor 1 and described from motor 2
Torque equilibrium.
Referring to Fig. 2, the gap principle that disappears of the RPDC electric synchronizations backlash eliminating equipment of the present invention is：
The position control module 31 is according to physical location deviation (i.e. physical location εactWith reference position εrefDifference),
Calculate reference speed value nref；
By the reference speed value nrefSimultaneously mould is controlled as the First Speed control module 32 and the second speed
Block 42 it is given, the First Speed control module 32 is according to the values for actual speed n of the master driver 3act,MWith the reference
Velocity amplitude nrefDifference (the i.e. values for actual speed n of the master driver 3act,MWith the reference speed value nrefDifference) calculate
First torque current reference value isqref,scon,M；The second speed control module 42 is according to the actual speed from driver 4
Value nact,SWith the reference speed value nrefDifference (the i.e. described values for actual speed n from driver 4act,SWith the reference velocity
Value nrefDifference) obtain the second torque current reference value isqref,scon,S；
The master driver 3 passes through the first torque current reference value described in 5 real-time exchange of sync card with described from driver 4
isqref,scon,MAnd the second torque current reference value isqref,scon,S；The process adjustments module 41 is electric by first torque
Flow reference value isqref,scon,MAnd the second torque current reference value isqref,scon,SIt is compared, and compensates the deviation of the two；
In the first torque current reference value isqref,scon,MAnd the second torque current reference value isqref,scon,SOn
Apply the identical gap bias current i that disappears of size respectivelysq,bias,MAnd isq,bias,S, the gap bias current i that disappearssq,bias,MWith compensation
The first torque current reference value i afterwardssqref,scon,MIt is exported to described first as the first input reference current value after addition
Current control module, first current control module input reference current value by described first and are converted into corresponding PWM (pulses
Width modulated) duty cycle signals, so that the actual current moment of the main motor 1 is tracked the first input reference current value, and
The actual current value and the first input reference current value for controlling the main motor 1 are consistent；The gap bias current that disappears
isq,bias,SWith the second torque current reference value i after compensationsqref,scon,SAs the second input reference current value after subtracting each other
It exports to second current control module, second current control module inputs reference current value by described second and is converted into
Corresponding PWM (pulse width modulation) duty cycle signals make described from the actual current moment of motor 2 tracking second input
Reference current value, and control and be consistent from the actual current value of motor 2 with the second input reference current value.
It should be noted that the circle in Fig. 2 indicates numerical operation, the not expression of "-" is added, and has the expression phase of "-"
Subtract.
Embodiment two
It is described the present invention also provides a kind of gap method that disappears of RPDC electric synchronizations backlash eliminating equipment incorporated by reference to Fig. 2 refering to Fig. 3
The gap that disappears method includes：
S1：There is provided master driver, from driver, main servo motor and from servo motor, the master driver and the master
Servo motor is electrically connected, described to be electrically connected from driver from servo motor with described, the main servo motor and described from servo
Motor respectively drives respective wheel and rack or gear ring engagement；
S2：When equipment is static, the main servo motor and it is described from servo motor in the master driver and described from drive
The gap tension that disappears that size is identical, direction is opposite is generated under the control of dynamic device, to eliminate mechanical clearance；
S3：When equipment works, disappear gap tension if load is less than, the main servo motor with it is described from servo motor output side
To on the contrary, the difference of the main servo motor and the torque from servo motor is load torque；If load is more than the gap tension that disappears,
The main servo motor goes out from servo motor that force direction is identical with described, the main servo motor and the torsion from servo motor
The sum of square is the torque of the load.
As an example, being equipped with position control module, First Speed control module and the first electric current control in the master driver
Molding block, it is described that second speed control module, process adjustments module and the second current control module are equipped with out of driver；It is described
Main servo motor and described generate under the master driver and the control from driver that size is identical, side from servo motor
To the opposite gap tension that disappears, the specific method to eliminate mechanical clearance is：
The position control module is referred to according to deviations of actual position (i.e. the difference of physical location and reference position)
Velocity amplitude；
By the reference speed value simultaneously as the First Speed control module and the second speed control module
It is given, the First Speed control module according to the difference of the values for actual speed of the master driver and the reference speed value (i.e.
The difference of the values for actual speed of the master driver and the reference speed value) obtain the first torque current reference value；Described
Two rate control modules are (i.e. described from driver according to the difference of the values for actual speed from driver and the reference speed value
Values for actual speed and the reference speed value difference) obtain the second torque current reference value；
The master driver with it is described from driver by the first torque current reference value described in sync card real-time exchange and
The second torque current reference value；The process adjustments module is by the first torque current reference value and second torque
Current reference value is compared, and compensates the deviation of the two；
The input terminal of first current control module is electrically connected with the output end of the First Speed control module 32, is fitted
The first input reference current is obtained after it will be superimposed with the gap bias current that disappears by the first torque current reference value after compensating
Value is converted into corresponding PWM (pulse width modulation) duty cycle signals, makes described in the actual current moment tracking of the main motor 1
First input reference current value, and control the actual current value of the main motor 1 and described first and input reference current value holding
Unanimously；The input terminal of second current control module is electrically connected with the output end of the second speed control module 42, is suitable for
By by after compensating the second torque current reference value and disappear after gap bias current subtracts each other and obtain the second input reference current value
Corresponding PWM (pulse width modulation) duty cycle signals are converted into, are made described from the actual current moment of motor 2 tracking described the
Two input reference current values, and control and be consistent from the actual current value of motor 2 with the second input reference current value.
In conclusion a kind of RPDC electric synchronizations backlash eliminating equipment of present invention offer and its gap method that disappears, the RPDC are electrical
Synchronous backlash-eliminating device includes：Main motor, from motor, master driver and from driver；The main motor and master driver electricity
Connection, it is described to be electrically connected from motor from driver with described；The master driver is electrically connected with described from driver, and is handed in real time
Change synchronous backlash-eliminating parameter.The present invention is by being arranged the master driver and described respectively driving the main motor and institute from driver
It states from motor and realizes that electric synchronization disappears gap function, do not need the Upper systems intervention such as PLC, motion controller or CNC；The main drive
Dynamic device and described shorter synchronizing cycle from data between driver, only about 125 μ s, the gap that disappears fast response time, precision are high；It is described
Master driver, from driver real-time exchange, average current reference value, ensures the main motor and described from motor output with described
It is balanced.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology can all carry out modifications and changes to above-described embodiment without violating the spirit and scope of the present invention.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should by the present invention claim be covered.
Claims (8)
1. a kind of RPDC electric synchronizations backlash eliminating equipment, which is characterized in that the RPDC electric synchronizations backlash eliminating equipment includes：Main electricity
Machine, from motor, master driver and from driver；
The main motor is electrically connected with the master driver, described to be electrically connected from motor from driver with described；
The master driver is electrically connected with described from driver, and real-time exchange synchronous backlash-eliminating parameter；It is set in the master driver
There are position control module and First Speed control module, it is described that second speed control module is equipped with out of driver；The position
Control module is suitable for obtaining reference speed value according to the physical location and reference position of the master driver；The First Speed control
Molding block and the input terminal of the second speed control module are electrically connected with the output end of the position control module, are suitable for basis
The difference of respective values for actual speed and the reference speed value respectively obtains the first torque current reference value and the second torque current
Reference value；
Described that process adjustments module is additionally provided with out of driver, the process adjustments module is electrically connected with the master driver；Institute
State the input terminal and the output end of the First Speed control module and second speed control module electricity of process adjustments module
Connection, and the output end of the process adjustments module is electrically connected with the input terminal of the second speed control module, is suitable for institute
It states the first torque current reference value and the second torque current reference value is compared, and compensate the deviation of the two.
2. RPDC electric synchronizations backlash eliminating equipment according to claim 1, it is characterised in that：The master driver and it is described from
Sync card is equipped in driver, the master driver and described realized from driver by the sync card are electrically connected, and lead to
Cross the sync card real-time exchange synchronous backlash-eliminating parameter.
3. RPDC electric synchronizations backlash eliminating equipment according to claim 1, it is characterised in that：The RPDC electric synchronizations disappear gap
Device further includes gear and rack or gear ring；The main motor and it is described from motor be suitable for driving the corresponding gear with
The rack or gear ring engagement.
4. RPDC electric synchronizations backlash eliminating equipment according to claim 1, it is characterised in that：The main motor and described from electricity
Machine is servo motor, the master driver and it is described from driver be servo-driver.
5. RPDC electric synchronizations backlash eliminating equipment according to claim 1, it is characterised in that：It is additionally provided in the master driver
First current control module, it is described that the second current control module is additionally provided with out of driver：
The input terminal of first current control module is electrically connected with the output end of the First Speed control module, is suitable for control
The actual current value of main motor be superimposed with the gap bias current that disappears by the first torque current reference value after compensating after obtain
First input reference current value is consistent；
The input terminal of second current control module is electrically connected with the output end of the second speed control module, is suitable for control
From the actual current value of motor with subtracted each other with the gap bias current that disappears by the second torque current reference value after compensating after obtain
Second input reference current value is consistent.
6. a kind of gap method that disappears of RPDC electric synchronization backlash eliminating equipments as described in any one of claim 1 to 5, feature exist
In the gap method that disappears includes：
There is provided master driver, from driver, main servo motor and from servo motor, the master driver and the main servo motor
Electrical connection, it is described to be electrically connected from driver from servo motor with described, the main servo motor and it is described from servo motor difference
Respective wheel and rack or gear ring is driven to engage；
When equipment is static, the main servo motor and it is described from servo motor in the master driver and the control from driver
System is lower to generate the gap tension that disappears that size is identical, direction is opposite, to eliminate mechanical clearance；
When equipment works, disappear gap tension if load is less than, the main servo motor with it is described from servo motor go out force direction on the contrary,
The difference of the main servo motor and the torque from servo motor is load torque；If load is more than the gap tension that disappears, the master
Servo motor goes out from servo motor that force direction is identical with described, the main servo motor and the sum of the torque from servo motor
For the torque of the load.
7. the gap method that disappears of RPDC electric synchronizations backlash eliminating equipment according to claim 6, it is characterised in that：The main servo
Motor and described generate under the master driver and the control from driver that size is identical, direction is opposite from servo motor
The gap tension that disappears, the specific method to eliminate mechanical clearance is：
According to deviations of actual position, reference speed value is obtained；
The first torque current reference value is obtained according to the difference of the values for actual speed of the master driver and the reference speed value；Root
The second torque current reference value is obtained according to the difference of the values for actual speed from driver and the reference speed value；
The first torque current reference value and the second torque current reference value are compared, and compensate the inclined of the two
Difference；
It will disappear after gap bias current is handled with the first torque current reference value after compensation and export to the main servo motor,
It will disappear after gap bias current is handled with the second torque current reference value after compensation and export to described from servo motor.
8. the gap method that disappears of RPDC electric synchronizations backlash eliminating equipment according to claim 7, it is characterised in that：By described first
The electric current that torque current reference value obtains after being added with the gap bias current that disappears is exported to the main servo motor：By described
The electric current that two torque current reference values obtain after subtracting each other with the gap bias current that disappears is exported to described from servo motor.
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| CN201510612807.5A CN105156654B (en) | 2015-09-23 | 2015-09-23 | RPDC electric synchronizations backlash eliminating equipment and its gap method that disappears |
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| CN201510612807.5A CN105156654B (en) | 2015-09-23 | 2015-09-23 | RPDC electric synchronizations backlash eliminating equipment and its gap method that disappears |
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| CN105156654B true CN105156654B (en) | 2018-08-31 |
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|---|---|---|---|---|
| CN109921693B (en) * | 2018-12-21 | 2021-04-20 | 中国航空工业集团公司北京航空精密机械研究所 | Multi-motor electric anti-backlash and automatic fault isolation method |
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