Double-sided driving system with additional torque compensation function and double-sided driving method of double-sided driving system

Abstract

The invention provides a double-sided driving system with an additional torque compensation function and a double-sided driving method of the double-sided driving system, which belong to a system and a method for eliminating an additional torque generated in a double-sided driving process. According to the system and the method, by arranging a second-direction stroke compensation motor which is used for compensating a torque of a first carrying table and a first carrying table compensation closed-ring control unit which is used for controlling the second-direction stroke compensation motor, the torque of the first carrying table, which is caused by that two first-direction stroke motors are asynchronous and two second-direction stroke motors are asynchronous, can be eliminated. Comparing with a scheme of adopting a two-dimensional motor, the crosstalk between the first-direction stroke motor and the second-direction stroke compensation motor is smaller, so that the work of each component is more reliable. Meanwhile, according to the system and the method, the repeated calculation and test processes for selecting flexible components are omitted.

Description

technical field [0001] The invention relates to a bilateral drive system and method. Background technique [0002] In a bilateral drive system, an unavoidable problem is the Rz direction torque problem. The Rz-direction torque refers to the deviation of the center of mass of the driven object due to the asynchrony of the two drive motors used for bilateral drive and the difference in output, and the influence of the Rz-direction torque of the upper or lower object of the driven object , so that there is a Rz-direction torque in the bilateral drive system. In most cases, this torque is not expected to exist. Therefore, in the application, it is necessary to eliminate the Rz torque. In the existing technology, there are generally two methods to eliminate the Rz-direction torque. One is to add a flexible piece between the mover of the bilateral drive motor and the driven object, and absorb the torque through the deformation of the flexible piece. The second is to replace t...

AI Technical Summary

Problems solved by technology

If there is no rich practical experience, in order to achieve the desired effect, the research and development cycle will inevitably be relatively long

[0004] In the two-dimensional motor structure, although the problem of additional torque in the Rz direction can be solved by one motor, the disadvantages of this method are: on the one hand, the volume of the two-dimensional motor may be larger than that of the one-dimensional motor; on the other hand, two The cost of a two-dimensional motor may be higher than that of two one-dimensional motors; on the other hand, if the manufacturing of two-dimensional motors is not very good, the mutual crosstalk between the two directions of motion will be more serious, and the risk of two one-dimensional motor solutions is relatively small

Images