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Double motor driven backlash eliminating device and backlash eliminating method

A dual-motor drive, anti-backlash technology, applied in the direction of speed adjustment of multiple motors, can solve the problems of control requirements, control accuracy can not be achieved, transient errors are difficult to overcome, etc., to achieve high transmission accuracy, accurate and stable control, Control Loop Stable and Accurate Results

Active Publication Date: 2011-11-16
JIER MACHINE TOOL GROUP
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Problems solved by technology

For this reason, people use methods such as anti-backlash gears and automatic pre-tightening mechanisms to eliminate this gap. This method can effectively eliminate the static error of the transmission gap. However, in high-precision position servo, the motor drives the load frequently. With the above-mentioned mechanical anti-backlash measures, the transient error caused by the backlash is still difficult to overcome, so that the control accuracy cannot meet the required control requirements

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  • Double motor driven backlash eliminating device and backlash eliminating method
  • Double motor driven backlash eliminating device and backlash eliminating method
  • Double motor driven backlash eliminating device and backlash eliminating method

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Embodiment Construction

[0022] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0023] figure 1 The structure schematic diagram of the present invention is given, and the double-motor-driven anti-backlash device of the present invention includes a first motor 1, a second motor 2 and a rack 3, and the rack 3 shown is fixed on a guide table, which can be The horizontal guide rail platform can also be a platform in other directions. The rack 3 is in a static state when the workbench is moving or stationary, and the first motor 1 and the second motor 2 are fixed on the workbench. The two matching gears are respectively connected with the first motor 1 and the second motor 2 through a transmission mechanism.

[0024] figure 2 This is the schematic diagram of the circuit control system. The control systems of the first motor 1 and the second motor 2 include motor encoders, position controllers, speed controllers, current controllers, ...

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Abstract

The invention discloses a double motor driven backlash eliminating device, which comprises a rack fixed on a guide table, a drive motor fixed on a workbench and a motor control system which controls the drive motor. The double motor driven backlash eliminating device is characterized in that: the drive motor comprises a first motor and a second motor, and a first motor control system and a secondmotor control system both comprise a position measuring module which detects the position of the corresponding motor, a position controller which is connected with the output end of the position measuring module, a speed controller which is connected with the output end of the position controller and a current controller. A backlash eliminating method of the invention is characterized in that thedifference between an output moment of the first motor and the output moment of the second motor is always kept at a constant value delta under the control action of the motor control system in the operation processes of the first and second motors. In the invention, backlash elimination is realized by arranging the two motors, so backlash vibration is removed, and modules of a gear and the rack are reduced.

Description

technical field [0001] The invention relates to a dual-motor-driven anti-backlash device and an anti-backlash method, more specifically, to a dual-motor-driven anti-backlash device and an anti-backlash method that use two motors to drive and eliminate backlash. Background technique [0002] In a high-precision position servo system, due to the machining error and mechanical wear of the transmission mechanism, there is a large transmission gap between the motor and the controlled object. For this reason, people use methods such as anti-backlash gears and automatic pre-tightening mechanisms to eliminate this gap. This method can effectively eliminate the static error of the transmission gap. However, in high-precision position servo, the motor drives the load frequently. With the above-mentioned mechanical anti-backlash measures, the transient error caused by the backlash is still difficult to overcome, so that the control accuracy cannot meet the required control requirements...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P5/50H02P5/52
Inventor 刘翔云李文涛刘通
Owner JIER MACHINE TOOL GROUP
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