CN111336217A - Dynamic clearance compensation method for improving position precision of holder - Google Patents
Dynamic clearance compensation method for improving position precision of holder Download PDFInfo
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- CN111336217A CN111336217A CN202010169486.7A CN202010169486A CN111336217A CN 111336217 A CN111336217 A CN 111336217A CN 202010169486 A CN202010169486 A CN 202010169486A CN 111336217 A CN111336217 A CN 111336217A
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- delta
- clearance
- worm
- holder
- return
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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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
- F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
- F16H1/16—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising worm and worm-wheel
-
- 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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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Gear Transmission (AREA)
- Gears, Cams (AREA)
Abstract
A dynamic gap compensation method for improving the position accuracy of a holder is disclosed, which is characterized in that the established return gap is used
Description
Technical Field
The invention relates to the technical field of holder control, in particular to a dynamic clearance compensation method for improving the position precision of a holder.
Background
An open-loop control holder based on worm gear transmission still is a holder with more holder application fields. The method has the advantages that the open-loop control cost is lower than that of closed-loop control, and the control is relatively simple. Meanwhile, the requirement of the whole security industry on the position control precision of the holder is continuously improved. However, the worm gear and worm transmission has a certain return clearance, and when the tripod head is used for position control, the motor position control and the actual position of the tripod head load output shaft are disconnected due to the return clearance, so that the control precision is low.
At present, the cloud deck based on worm and gear transmission of open-loop control at home and abroad also carries out certain compensation processing on a return clearance, and the method is to give a fixed compensation value to carry out position correction according to empirical judgment or actual measurement. However, in practical application, the position accuracy is still poor, because when the working condition of the transmission mechanism changes, the return clearance is not a fixed value, and the general clearance compensation scheme only solves the clearance problem qualitatively, but does not solve the problem of dynamic change of the return clearance.
Disclosure of Invention
In order to overcome the defects of the technology, the invention provides a dynamic clearance compensation method for improving the position precision of a tripod head, which solves the problems that the tripod head based on worm and gear transmission has return clearance and the return clearance is changed in open-loop control.
The technical scheme adopted by the invention for overcoming the technical problems is as follows:
a dynamic clearance compensation method for improving the position accuracy of a holder comprises the following steps:
a) measuring to obtain a load torque M of a return clearance of the cloud deck worm gear and worm transmission mechanism;
b) measuring to obtain a worm wheel circumferential force Ft in the holder;
c) measuring to obtain the worm rotating speed N1 in the holder;
d) measuring to obtain the worm gear rotating speed N2 in the holder;
e) calculating a worm gear transmission return clearance delta L by a formula of delta Lm + delta Lf + delta Ln1+ delta Ln2, wherein delta Lm is a clearance component related to worm gear load torque, delta Lm is h is a correlation coefficient of the load torque M in linear proportion to a return clearance, h is an unsigned fraction which is larger than 0 and smaller than or equal to 0.001, delta Lf is a clearance component related to worm gear circumferential force, delta Lf is i is Ft, i is a correlation coefficient of the worm gear circumferential force Ft in linear proportion to the return clearance, i is a signed fraction which is larger than 0 and smaller than or equal to 0.001, delta Ln1 is a clearance component related to worm rotation speed, delta Ln1 is j N1, j is a correlation coefficient of worm rotation speed N1, j is an unsigned fraction which is larger than 0 and smaller than or equal to 0.0017, delta Ln 7 is a clearance component related to worm gear rotation speed, delta Ln 355638 is a rotation speed coefficient 365638, and delta Ln is a rotation speed 365638, k is an unsigned decimal number greater than 0 and less than 0.067.
f) And dynamically compensating the return clearance delta L in a control program of the holder.
Further, in the step e), h is Hmax cos θ, θ is the inclination angle of the load torque and the load relative to the horizontal plane of the pan/tilt head in the pitch axis direction, Hmax is Δ Lmmax/M, and Δ Lmmax is the theoretical maximum value of Δ Lm.
Further, in step e), i is Imax n3 ∈, where ∈ is the reduction ratio of the worm gear and worm drive, n3 is the motor speed, Imax is Δ Lfmax ÷ Ft, and Δ Lfmax is the theoretical maximum value of Δ Lf.
Further, in step e), j is Jmax N3 ∈ where ∈ is the reduction ratio of the worm gear and worm drive, N3 is the motor speed, Jmax is Δ Ln1max ÷ N1, and Δ Ln1max is the theoretical maximum value of Δ Ln 1.
Further, in step e), k is Kmax N3 ∈ and is the reduction ratio of the worm gear and worm drive, N3 is the motor speed, Kmax is Δ Ln2 max/N2, and Δ Ln2max is the theoretical maximum value of Δ Ln 2.
The invention has the beneficial effects that: the method comprises the steps of obtaining more accurate return clearance under different conditions through an established calculation formula of the return clearance delta L, dynamically compensating the dynamically changed clearance in a control program of a holder, compensating a dynamic compensation value into holder position control, designing a model capable of calculating and dynamically compensating the return clearance in real time, calculating the return clearance of worm and gear transmission under specific conditions according to the rotating speed and the rotating direction of a motor and the angle of the current holder, and dynamically adjusting the clearance compensation value in real time, so that the position control precision of the return clearance changing along with application conditions is improved.
Detailed Description
The present invention is further explained below.
Based on the mechanical analysis of worm gear and worm transmission mechanism, when the worm rotates in two positive and negative directions, there is certain return clearance between worm wheel and worm, and this clearance receives load torque M, worm wheel circumference force Ft, worm rotational speed N1 and worm wheel rotational speed N2's influence, and this is a dynamic change's volume, and this dynamic clearance compensation method that improves cloud platform position accuracy includes: a) measuring to obtain a load torque M of a return clearance of the cloud deck worm gear and worm transmission mechanism; b) measuring to obtain a worm wheel circumferential force Ft in the holder; c) measuring to obtain the worm rotating speed N1 in the holder; d) measuring to obtain the worm gear rotating speed N2 in the holder; e) calculating a worm gear transmission return clearance delta L by a formula of delta Lm + delta Lf + delta Ln1+ delta Ln2, wherein delta Lm is a clearance component related to worm gear load torque, delta Lm is h is a correlation coefficient of the load torque M in linear proportion to a return clearance, h is an unsigned fraction which is larger than 0 and smaller than or equal to 0.001, delta Lf is a clearance component related to worm gear circumferential force, delta Lf is i is Ft, i is a correlation coefficient of the worm gear circumferential force Ft in linear proportion to the return clearance, i is a signed fraction which is larger than 0 and smaller than or equal to 0.001, delta Ln1 is a clearance component related to worm rotation speed, delta Ln1 is j N1, j is a correlation coefficient of worm rotation speed N1, j is an unsigned fraction which is larger than 0 and smaller than or equal to 0.0017, delta Ln 7 is a clearance component related to worm gear rotation speed, delta Ln 355638 is a rotation speed coefficient 365638, and delta Ln is a rotation speed 365638, k is an unsigned decimal number greater than 0 and less than 0.067. f) And dynamically compensating the return clearance delta L in a control program of the holder. The method comprises the steps of obtaining more accurate return clearance under different conditions through an established calculation formula of the return clearance delta L, dynamically compensating the dynamically changed clearance in a control program of a holder, compensating a dynamic compensation value into holder position control, designing a model capable of calculating and dynamically compensating the return clearance in real time, calculating the return clearance of worm and gear transmission under specific conditions according to the rotating speed and the rotating direction of a motor and the angle of the current holder, and dynamically adjusting the clearance compensation value in real time, so that the position control precision of the return clearance changing along with application conditions is improved.
In a specific product application, the mechanical parameters of the load and the worm gear are known, namely, the load torque M, the worm gear circumferential force Ft, the worm rotation speed N1 and the worm gear rotation speed N2 can be calculated to be maximum according to the specific application, the related parameter h of the load torque M is generally a constant quantity on the azimuth axis of the tripod head, the load torque of the tripod head in the pitch axis direction is linearly proportional to the trigonometric function of the inclination angle theta of the load relative to the horizontal plane, so that in the step e), h is Hmax cos theta, theta is the inclination angle of the load torque of the tripod head in the pitch axis direction relative to the horizontal plane, Hmax is Lmmax divided by M, and Δ Lmmax is the theoretical maximum of Δ Lm. In step e), i is Imax n3 epsilon, epsilon is the reduction ratio of the worm wheel and the worm, n3 is the motor rotation speed, Imax is Δ Lfmax/Ft, and Δ Lfmax is the theoretical maximum value of Δ Lf. In step e), j is Jmax N3 epsilon, epsilon is the reduction ratio of the worm wheel and the worm, N3 is the motor speed, Jmax is Δ Ln1 max/N1, and Δ Ln1max is the theoretical maximum value of Δ Ln 1. In step e), k is Kmax N3 epsilon, epsilon is the reduction ratio of the worm wheel and the worm, N3 is the motor speed, Kmax is Δ Ln2 max/N2, and Δ Ln2max is the theoretical maximum value of Δ Ln 2. The dynamically varying backhaul gap in step e) can therefore be calculated with the following formula: Δ L ═ Hmax × cos θ × M + Imax × N3 × ∈ Ft + Jmax × N3 × ∈ N1+ Kmax × N3 × ∈ N2.
Claims (5)
1. A dynamic clearance compensation method for improving the position accuracy of a holder is characterized by comprising the following steps:
a) measuring to obtain a load torque M of a return clearance of the cloud deck worm gear and worm transmission mechanism;
b) measuring to obtain a worm wheel circumferential force Ft in the holder;
c) measuring to obtain the worm rotating speed N1 in the holder;
d) measuring to obtain the worm gear rotating speed N2 in the holder;
e) calculating a worm gear transmission return clearance delta L by a formula of delta Lm + delta Lf + delta Ln1+ delta Ln2, wherein delta Lm is a clearance component related to worm gear load torque, delta Lm is h is a correlation coefficient of the load torque M in linear proportion to a return clearance, h is an unsigned fraction which is larger than 0 and smaller than or equal to 0.001, delta Lf is a clearance component related to worm gear circumferential force, delta Lf is i is Ft, i is a correlation coefficient of the worm gear circumferential force Ft in linear proportion to the return clearance, i is a signed fraction which is larger than 0 and smaller than or equal to 0.001, delta Ln1 is a clearance component related to worm rotation speed, delta Ln1 is j N1, j is a correlation coefficient of worm rotation speed N1, j is an unsigned fraction which is larger than 0 and smaller than or equal to 0.0017, delta Ln 7 is a clearance component related to worm gear rotation speed, delta Ln 355638 is a rotation speed coefficient 365638, and delta Ln is a rotation speed 365638, k is an unsigned decimal number greater than 0 and less than 0.067.
f) And dynamically compensating the return clearance delta L in a control program of the holder.
2. The dynamic clearance compensation method for improving the position accuracy of a pan/tilt head according to claim 1, wherein: in the step e), h is Hmax cos θ, θ is the inclination angle of the load torque and the load of the tripod head in the pitch axis direction relative to the horizontal plane, Hmax is Δ Lmmax/M, and Δ Lmmax is the theoretical maximum value of Δ Lm.
3. The dynamic clearance compensation method for improving the position accuracy of a pan/tilt head according to claim 1, wherein: in step e), i is Imax n3 epsilon, epsilon is the reduction ratio of the worm wheel and the worm, n3 is the motor rotation speed, Imax is Δ Lfmax/Ft, and Δ Lfmax is the theoretical maximum value of Δ Lf.
4. The dynamic clearance compensation method for improving the position accuracy of a pan/tilt head according to claim 1, wherein: in step e), j is Jmax N3 epsilon, epsilon is the reduction ratio of the worm wheel and the worm, N3 is the motor speed, Jmax is Δ Ln1 max/N1, and Δ Ln1max is the theoretical maximum value of Δ Ln 1.
5. The dynamic clearance compensation method for improving the position accuracy of a pan/tilt head according to claim 1, wherein: in step e), k is Kmax N3 epsilon, epsilon is the reduction ratio of the worm wheel and the worm, N3 is the motor speed, Kmax is Δ Ln2 max/N2, and Δ Ln2max is the theoretical maximum value of Δ Ln 2.
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| CN202010169486.7A CN111336217B (en) | 2020-03-12 | 2020-03-12 | Dynamic clearance compensation method for improving position precision of holder |
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| CN202010169486.7A CN111336217B (en) | 2020-03-12 | 2020-03-12 | Dynamic clearance compensation method for improving position precision of holder |
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| CN111336217B CN111336217B (en) | 2022-11-01 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111982050A (en) * | 2020-08-07 | 2020-11-24 | 深圳昱拓智能有限公司 | Automatic detection system, detection method and compensation method for mechanical clearance of holder controller |
| CN115256465A (en) * | 2022-07-29 | 2022-11-01 | 江苏航鼎智能装备有限公司 | Method for eliminating reverse clearance in industrial robot gear transmission |
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| JP2012057660A (en) * | 2010-09-06 | 2012-03-22 | Honda Motor Co Ltd | Worm gear mechanism |
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| KR20170003155A (en) * | 2015-06-30 | 2017-01-09 | 주식회사 만도 | Reducer of Electric Power Steering Apparatus |
| CN109780186A (en) * | 2019-01-17 | 2019-05-21 | 广州市昊志机电股份有限公司 | A kind of worm screw auxiliary structure of twin worm from the gap that disappears |
| US20190203822A1 (en) * | 2016-08-16 | 2019-07-04 | Luis Maria Antonello | Controlled- or zero-backlash gear reducer |
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH07243484A (en) * | 1994-02-21 | 1995-09-19 | Tai-Her Yang | Double-acting type dynamic backlash preventive driving gear |
| JP2012057660A (en) * | 2010-09-06 | 2012-03-22 | Honda Motor Co Ltd | Worm gear mechanism |
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| CN109780186A (en) * | 2019-01-17 | 2019-05-21 | 广州市昊志机电股份有限公司 | A kind of worm screw auxiliary structure of twin worm from the gap that disappears |
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| CN111982050A (en) * | 2020-08-07 | 2020-11-24 | 深圳昱拓智能有限公司 | Automatic detection system, detection method and compensation method for mechanical clearance of holder controller |
| CN115256465A (en) * | 2022-07-29 | 2022-11-01 | 江苏航鼎智能装备有限公司 | Method for eliminating reverse clearance in industrial robot gear transmission |
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Denomination of invention: A Dynamic Gap Compensation Method for Improving the Precision of Pan Tilt Position Effective date of registration: 20230921 Granted publication date: 20221101 Pledgee: Bank of Beijing Co.,Ltd. Jinan Branch Pledgor: SHANDONG FEIYUE ELECTRONICS TECHNOLOGY Co.,Ltd. Registration number: Y2023980058123 |