CN116232127A - Double-motor gap eliminating method - Google Patents
Double-motor gap eliminating method Download PDFInfo
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- CN116232127A CN116232127A CN202310508728.4A CN202310508728A CN116232127A CN 116232127 A CN116232127 A CN 116232127A CN 202310508728 A CN202310508728 A CN 202310508728A CN 116232127 A CN116232127 A CN 116232127A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/50—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing electrical values representing the speeds
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Abstract
The invention belongs to the field of motor gap elimination, and provides a double-motor gap elimination method, which comprises the following steps: the anti-backlash torques with opposite directions are input and overlapped to the current rings of the two servo drivers, and when the rotating speed of the motor is 0, the anti-backlash state of the gears is maintained; adding a torque balance controller in the driver A; the torque commands of the two drivers are subjected to difference, the difference is taken as negative feedback and input to a speed loop PI controller of the driver A through an adjusting amount output by the PI controller, and the torque balance controller finally adjusts the torque output of the driver A to be equal to that of the torque output of the driver B; the torque commands output by the two driver speed loop controllers are summed and then used as a shared torque command output current loop; when the shared torque is larger than the anti-backlash torque, the torque output of the B driver is in the same direction as that of the A driver, and the B driver is in a state of helping the A driver; when the shared torque decreases to less than the anti-backlash torque, the B drive torque output is reversed with the a drive, at which point the B drive and the a drive enter anti-backlash mode.
Description
Technical Field
The invention relates to the field of motor gap elimination, in particular to a double-motor gap elimination method.
Background
The rack drive load places special demands on the servo control system and many applications require two motors to drive the rack. The double-motor anti-backlash is a transmission mode that two motors are meshed with a transmission gear through gears and simultaneously output torque to drive the transmission gear to rotate. The two motors eliminate gear play at the time of positioning by outputting a backlash eliminating torque when the movement is finished.
On the one hand, the rack and pinion mechanism has a larger clearance. This clearance is eliminated by tensioning the rack, at least in the event of a light load on the mechanism. This requires that the speed loop remain independently operational during drive operation. On the other hand, the two drive systems are connected by a rack, the speeds of the two motors being the same when the gap is contracted. Such a synchronous connection may result in a collision of the speed loop control of the two independent drives.
Rack drive systems are commonly used in applications where the travel distance is long. For example, large telescopes and large mechanical work tables are typically rack-driven. The ultimate length of the ball screw is about 2 meters and the ultimate distance of rack drive is about 10 times that of the ball screw. The greatest difficulty in controlling the rack mechanism is the backlash. Rack and pinion mechanical structures are difficult to manufacture, often leaving acceptable clearances to reduce manufacturing difficulties. In addition, to reduce the gear ratio of the rack and pinion mechanism, it is often necessary to use a gear box that in turn increases the clearance. The drive mechanism typically requires a reduction in backlash, and a common approach is to use two motors to tension or compress the gears to eliminate backlash.
A simplified version of the mechanical mechanism is shown in fig. 2. In steady state, the left motor provides a base force to the right and the right motor provides a base force to the left, which compresses the system gap in steady state. When acceleration is required, the two motors share the load. In this case, one of the two motors must cross the gap to provide torque. At the end of the movement, the motor must then return to the other side of the rack across the gap to eliminate the gap.
Disclosure of Invention
The invention aims to provide a double-motor anti-backlash method which can maintain a gear in a tensioning or compression state by providing torque in opposite directions during light load through an equilibrium control strategy; when the load is heavy, the motor on the other side of the gap is automatically pulled away, so that the two motors jointly bear the load, and particularly, the two motors jointly output the torque for providing acceleration in the acceleration and deceleration process, the dynamic response characteristic of the system is greatly improved, the load is reduced after the acceleration and deceleration process is finished, and the system automatically returns to a state of tensioning or compressing the rack.
The invention solves the technical problems and adopts the following technical scheme:
the double-motor gap eliminating method comprises the following steps:
a transmission structure of a middle gear is driven by gears arranged at the shaft ends of two motors;
the current rings of the two servo drivers are respectively input with anti-backlash torques with opposite directions, and the anti-backlash torques are used for maintaining the anti-backlash state of the gears when the rotating speed of the motor is 0;
adding a torque balance controller in the driver A;
the torque commands of the two servo drivers are subjected to difference, the difference is taken as negative feedback and input to a speed loop PI controller of the A driver through an adjusting amount output by the PI controller, and the torque balance controller finally adjusts the torque output of the A/B servo drivers to be equal;
the torque commands output by the speed loop controllers of the two servo drivers are summed and then output to respective current loops as shared torque commands of the two servo drivers;
when the shared torque is larger than the anti-backlash torque, the torque output of the B driver is in the same direction as that of the A driver, and the B driver is in a state of helping the A driver;
when the shared torque decreases to less than the anti-backlash torque, the B drive torque output is reversed with the a drive, at which point the B drive and the a drive enter anti-backlash mode.
As a further optimization, both speed loop controllers are integral speed loop controllers.
As a further optimization, the torque output of the torque balance controller is the sum of the two speed loop outputs.
As a further optimization, the torque commands of the two speed loops are identical except for the anti-backlash torque in the torque balancing controller.
As a further optimization, a PI equalizer regulator in the torque equalizer controller is used to ensure that the outputs of the two speed loops are equal.
As a further optimization, the torque balance controller drives the difference between the outputs of the two PI speed rings to be 0, so as to ensure that the two rings are not struggled with each other.
As further optimization, the other end of the intermediate gear is provided with an incremental encoder, an A driver signal and a B driver signal of the encoder are respectively connected into a counter for counting, and the incremental encoder is used for detecting positioning accuracy through the reading of the counter during testing.
The beneficial effects of the invention are as follows: through the double-motor gap eliminating method, through an equilibrium control strategy, the controller is allowed to control the two gap eliminating motors like controlling a single motor, meanwhile, gaps can be eliminated during light load, the two motors can share load during heavy load, in addition, the motors are smoothly switched when crossing the gaps, and tooth striking impact can be avoided.
Drawings
Fig. 1 is a flowchart of a dual-motor anti-backlash method according to an embodiment of the present invention.
FIG. 2 is a simplified schematic diagram of the mechanical structure of a rack drive system of the prior art;
FIG. 3 is a schematic diagram illustrating the equalization of two speed loops in an embodiment of the present invention;
fig. 4 is a schematic block diagram of a dual motor anti-backlash mechanism in an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Examples
The embodiment provides a double-motor gap eliminating method, the flow chart of which is shown in fig. 1, wherein the method comprises the following steps:
s1, a transmission structure of a middle gear is driven by gears arranged at the shaft ends of two motors together;
s2, respectively superposing anti-backlash torques with opposite directions on current loop inputs of the two servo drivers, wherein the anti-backlash torques are used for maintaining the anti-backlash state of the gears when the rotating speed of the motor is 0;
s3, adding a torque balance controller in the driver A;
s4, torque instructions of the two servo drivers are subjected to difference, the difference is taken as negative feedback and input to a speed loop PI controller of the A driver through an adjusting amount output by the PI controller, and the torque balance controller finally adjusts the torque output of the A/B servo drivers to be equal;
s5, the torque commands output by the speed loop controllers of the two servo drivers are summed and then output to respective current loops as shared torque commands of the two servo drivers;
s6, when the shared torque is larger than the anti-backlash torque, the torque output of the driver B is in the same direction as that of the driver A, and the driver B is in a state of helping the driver A;
s7, when the shared torque is reduced to be smaller than the anti-backlash torque, the torque output of the driver B is opposite to that of the driver A, and the driver B and the driver A enter the anti-backlash mode.
In the method, the two speed loop controllers are all integral speed loop controllers; the torque output of the torque balance controller is the sum of the two speed loop outputs; the torque commands of the two speed rings are identical except for the anti-backlash torque in the torque balance controller; the PI balance regulator in the torque balance controller is used for ensuring that the output of the two speed rings is equal; the torque balance controller drives the output difference of the two PI speed rings to be 0 and is used for ensuring that the two rings are not strutted with each other; the other end of the intermediate gear is provided with an incremental encoder, an A driver signal and a B driver signal of the encoder are respectively connected into a counter for counting, and the incremental encoder is used for detecting positioning accuracy through the reading of the counter during testing.
It is added that for the control part of the speed loop, a standard speed loop configuration cannot be used when the two motors control the driving load. If the integration links of the two speed loops work simultaneously, a conflict can occur between them. Even a small difference will saturate the accumulated output in both integrators. There are several sources of these differences. One source of speed command differences is the differences in the AD converters. The driver speed control period is slightly different due to the slight difference of the driver clock, so that the speed feedback is slightly different. The mechanical connection forces the speeds of the two drive systems to coincide, in which case the two speed loops cannot be satisfied. The torque that the two speed loops ultimately output due to the effect of integration conflicts with each other.
For the balanced part of the speed rings, a better rack driving system adds an equalization link between the two speed rings, as shown in fig. 3. Both speed loops are integral speed loops. The equalization segment consists of two parts, the first, torque output is the sum of the two speed loop outputs. Besides the anti-backlash torque, the torque instructions of the two speed rings are identical, and the PI balance regulator ensures that the output of the two speed rings is equal, and the balance regulator drives the difference between the output of the two PI speed rings to be 0, so that the two rings are not strutted.
In FIG. 3, V CMD Indicating speed command, V FB1 Indicating the feedback speed, V, of the motor 1 FB2 Representing the feedback speed of the motor 2, PIVel represents the speed loop PI controller, K P Representing the proportionality coefficient, K I Represents the integral coefficient, K I S represents the integral part, K P +K I S represents a torque balance PI controller, I BIAS A current corresponding to the anti-backlash torque (anti-backlash current), I C1 Indicating a current control command of the motor 1, I C2 A current control command for the motor 2 is indicated.
The schematic block diagram of the double motor anti-backlash is shown in fig. 4, and the anti-backlash torques with opposite directions are respectively overlapped on the current ring (torque ring) inputs of the two servo drivers, and the torques can ensure that the anti-backlash state of the gears is maintained when the motor rotation speed is 0.
In this embodiment, in order to balance the output of the speed rings of the two drives, the speed rings of the two drives are prevented from being broken, and a torque balance controller is added to the a drive. The torque commands of the two drivers are differentiated, and the difference is input to the speed loop PI controller of the A driver as negative feedback through the adjustment quantity output by the PI controller. The torque balance controller ultimately adjusts the torque output of the a driver and the B driver to be approximately equal.
The torque commands output by the two driver speed loop controllers are summed and then output to the respective current loops as a shared torque command for the two drivers.
When the shared torque is larger than the anti-backlash torque, the torque output of the B driver is in the same direction as that of the A driver, and the B driver is in a state of helping the A driver; when the shared torque decreases to less than the anti-backlash torque, the B drive torque output is reversed with the a drive, at which point the B drive and the a drive enter anti-backlash mode. The anti-backlash torque can be set by a user, and the rated current range from 0 to the motor can be set, but when the setting is large, the power of the system can be increased, and the peak torque which can be provided by the system can be reduced.
In the practical application process, the double-motor anti-backlash method of the embodiment can be tested through the double-motor anti-backlash test tool.
Here, adopt the transmission structure of two motor shaft end installation gears common drive intermediate gear, incremental encoder is installed to the other one end of intermediate gear, and the A driver signal and the B driver signal of encoder insert the counter respectively and count, can detect positioning accuracy through the reading of counter during the test.
The scheme adopted by the embodiment is a scheme of adding one master machine and one slave machine, wherein the master machine works in a position or speed mode, and the slave machine works in a torque mode.
The master outputs a torque in the CCW direction, and the slave outputs a torque in the CW direction, CW being an abbreviation for clock wise, and CCW being an abbreviation for counter-clock wise, and CW being an abbreviation for counter-clock wise. When the control torque is in the CCW direction, the master machine provides the control torque, and the slave machine provides the anti-backlash torque; when the control torque is in the CW direction, the slave provides the control torque and the master provides the anti-backlash torque. The torque command of the slave is output to the analog input interface of the slave by the host through the analog output interface.
A servo driver and a servo motor are adopted to test the double-motor gap eliminating function, and test data are recorded as follows:
the table shows that the gap eliminating function of the double motors meets the project requirements.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The double-motor gap eliminating method is characterized by comprising the following steps of:
a transmission structure of a middle gear is driven by gears arranged at the shaft ends of two motors;
the current rings of the two servo drivers are respectively input with anti-backlash torques with opposite directions, and the anti-backlash torques are used for maintaining the anti-backlash state of the gears when the rotating speed of the motor is 0;
adding a torque balance controller in the driver A;
the torque commands of the two servo drivers are subjected to difference, the difference is taken as negative feedback and input to a speed loop PI controller of the A driver through an adjusting amount output by the PI controller, and the torque balance controller finally adjusts the torque output of the A/B servo drivers to be equal;
the torque commands output by the speed loop controllers of the two servo drivers are summed and then output to respective current loops as shared torque commands of the two servo drivers;
when the shared torque is larger than the anti-backlash torque, the torque output of the B driver is in the same direction as that of the A driver, and the B driver is in a state of helping the A driver;
when the shared torque decreases to less than the anti-backlash torque, the B drive torque output is reversed with the a drive, at which point the B drive and the a drive enter anti-backlash mode.
2. The dual motor anti-backlash method of claim 1, wherein the two speed loop controllers are both integral speed loop controllers.
3. The dual motor anti-backlash method of claim 1, wherein the torque output of the torque balancing controller is the sum of two speed loop outputs.
4. The dual motor anti-backlash method of claim 1, wherein the torque commands for the two speed loops are identical except for the anti-backlash torque in the torque balancing controller.
5. The dual motor anti-backlash method of claim 1, wherein a PI equalizer regulator in the torque equalizer controller is configured to ensure equal outputs of the two speed loops.
6. The dual motor anti-backlash method of claim 1, wherein the torque balancing controller drives the difference between the outputs of the two PI speed rings to be 0 for ensuring that the two rings do not bridge each other.
7. The double motor anti-backlash method according to any one of claims 1 to 6, characterized in that an incremental encoder is mounted at the other end of the intermediate gear, and the a driver signal and the B driver signal of the encoder are respectively connected to a counter for counting, and are used for detecting positioning accuracy through the reading of the counter during testing.
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| CN101697465A (en) * | 2009-09-29 | 2010-04-21 | 扬州曙光光电自控有限责任公司 | Double-motor backlash eliminating control device for alternating current servo system |
| CN101841286A (en) * | 2010-05-28 | 2010-09-22 | 济南二机床集团有限公司 | Double motor driven backlash eliminating device and backlash eliminating method |
| CN103701368A (en) * | 2014-01-14 | 2014-04-02 | 北京理工大学 | Dual-motor energy-saving anti-backlash control method |
| CN109936312A (en) * | 2018-12-20 | 2019-06-25 | 中铁十四局集团房桥有限公司 | The four motor drivens synchronization of CRTS-III type railway plate die cleaning plant and anti-backlash control method |
| CN111953240A (en) * | 2020-06-04 | 2020-11-17 | 南京工程学院 | Double-motor backlash eliminating method and system based on optimal control |
| CN112366987A (en) * | 2020-09-18 | 2021-02-12 | 浙江理工大学 | Method for realizing motor resistance detection by using current under double-motor coupling condition |
| CN114320328A (en) * | 2022-01-05 | 2022-04-12 | 中铁工程装备集团有限公司 | Shield tunneling machine start-stop control method and device |
| CN115800822A (en) * | 2022-11-18 | 2023-03-14 | 武汉堡士兴自动化技术有限公司 | Dual-motor anti-backlash control system and method |
-
2023
- 2023-05-08 CN CN202310508728.4A patent/CN116232127A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101697465A (en) * | 2009-09-29 | 2010-04-21 | 扬州曙光光电自控有限责任公司 | Double-motor backlash eliminating control device for alternating current servo system |
| CN101841286A (en) * | 2010-05-28 | 2010-09-22 | 济南二机床集团有限公司 | Double motor driven backlash eliminating device and backlash eliminating method |
| CN103701368A (en) * | 2014-01-14 | 2014-04-02 | 北京理工大学 | Dual-motor energy-saving anti-backlash control method |
| CN109936312A (en) * | 2018-12-20 | 2019-06-25 | 中铁十四局集团房桥有限公司 | The four motor drivens synchronization of CRTS-III type railway plate die cleaning plant and anti-backlash control method |
| CN111953240A (en) * | 2020-06-04 | 2020-11-17 | 南京工程学院 | Double-motor backlash eliminating method and system based on optimal control |
| CN112366987A (en) * | 2020-09-18 | 2021-02-12 | 浙江理工大学 | Method for realizing motor resistance detection by using current under double-motor coupling condition |
| CN114320328A (en) * | 2022-01-05 | 2022-04-12 | 中铁工程装备集团有限公司 | Shield tunneling machine start-stop control method and device |
| CN115800822A (en) * | 2022-11-18 | 2023-03-14 | 武汉堡士兴自动化技术有限公司 | Dual-motor anti-backlash control system and method |
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