A dual-motor coaxial drive anti-backlash control system and its anti-backlash control method

Abstract

The invention discloses a dual-motor coaxial drive anti-backlash control system, which includes a host computer, a main motor driver, a slave motor driver, a first motor, a second motor, a first mechanical transmission chain and a second mechanical transmission chain; The upper computer is respectively connected to the main motor driver and the slave motor driver through the field bus, the master motor driver is connected to the first mechanical transmission chain through the first motor, and the slave motor driver is connected to the second mechanical transmission chain through the second motor. The two mechanical transmission chains are respectively connected to the loads driven by the system. The invention also discloses a backlash elimination method based on the dual-motor coaxial drive anti-backlash control system. The present invention uses secondary programming in the digitally controlled motor driver, increases the anti-backlash control link, realizes the dual-motor coaxial drive anti-backlash control of the universal motor driver, can conveniently set the size of the anti-backlash torque according to needs, and adjust the speed The feedback signal is connected to the control loop to avoid the problem of differential vibration.

Description

technical field [0001] The invention discloses a dual-motor coaxial drive anti-backlash control system and a corresponding anti-backlash control method, and relates to the technical field of dual-motor coaxial drive control. Background technique [0002] In the control system based on mechanical transmission, the existence of nonlinear backlash in the transmission chain not only affects the dynamic performance of the control system but also affects the positioning accuracy of the system. Therefore, in the field of high-precision positioning accuracy control, it is necessary to eliminate the backlash of the transmission chain in order to improve the control accuracy. The prior art mainly adopts two methods: mechanical backlash elimination and dual-motor coaxial drive for anti-backlash. [0003] Chinese patent application number: CN201210022983.X, application date: January 11, 2012, patent name: anti-backlash gear, the invention relates to an anti-backlash gear, which consist...

AI Technical Summary

Problems solved by technology

The disadvantage of the mechanical anti-backlash method is that this method is to add a mechanical anti-backlash mechanism in the transmission chain, which makes the design of the transmission mechanism complicated and the debugging difficulty increases

The disadvantage of this method is that this method is to set a fixed bias torque on the two motors, which not only loses the driving power of the motors, but also affects the synchronization performance of the two motors because the fixed bias torques are equal in magnitude and opposite in direction.

This anti-backlash method does not have the shortcoming of one of the above-mentioned control motor anti-backlash methods. The analog anti-backlash circuit is used to complete the anti-backlash control. The disadvantage is that this method is to design an anti-backlash circuit between the two motor drivers and increase the hardware. cost and installation space, and the actual debugging of this method is more complicated

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