Control method for enhancing kinematic accuracy by double-motor drive based on real-time control network

Abstract

The invention discloses a double-motor drive control method on a real-time control network basis for improving the kinematic accuracy. The method comprises the following steps: 1) establishing the communication between a motion control card and a D / A converter based on a SynqNet real-time control network; 2) operating the motion control card to allow the D / A converter to output the same motion commands to two motor drivers; 3) operating the two motors respectively to drive two gears on the same rack, wherein the driving power is shared by the two motors; 4) operating the two motor drivers to control the two motors respectively and output the same adjustable bias torques in the opposite direction; 5) allowing the two motors to make the strictly synchronous movement by intersecting and accumulating the outputs from a synchronous compensator and the two motors; and 6) arranging a linear grating on the rack, wherein the position measurement information of the linear grating is input to the motion control card to achieve the effect of closed-loop control. The double-motor drive control method on a real-time control network basis greatly increases the accuracy of the rack-gear transmission system, ensures the adjustable bias torque, meets different requirements for load and speed and has good real-time property, controllability and reliability.

Description

technical field [0001] The invention relates to a control method for improving motion precision based on a real-time control network driven by dual motors. Background technique [0002] In the mechanical transmission system, the backlash is a common nonlinear characteristic in the power transmission process, and it is also an important factor affecting the dynamic performance and steady-state accuracy of the system. For an ideal precision transmission device, the relationship between its output and input is linear, but due to the existence of the gap, a return error occurs during the transmission process, and the input and output of the system will lose their kinematic connection in a short time, resulting in a sudden interruption of the output. The stability and precision of the transmission are greatly reduced. [0003] The most commonly used traditional mechanical anti-backlash method is the spring anti-backlash method, as described in the literature "Exploration of the ...

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Problems solved by technology

For an ideal precision transmission device, the relationship between its output and input is linear, but due to the existence of the gap, a return error occurs during the transmission process, and the input and output of the system will lose their kinematic connection in a short time, resulting in a sudden interruption of the output. Greatly reduces the stability and precision of the transmission

[0003] The most commonly used traditional mechanical anti-backlash method is the spring anti-backlash method, as described in the literature "Exploration of the realization of gear anti-backlash function" (Hu Chao et al., "Mechanical and Electrical Engineering". 2008, 25(2): 11-14) , although this method is more convenient in implementation, it will increase the complexity of the mechanical part and reduce the reliability, and it is not suitable for high-power transmission

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