Experiment table for double-motor coaxial redundant drive control research

Abstract

The invention relates to an experiment table for a double-motor coaxial redundant drive control research. The experiment table comprises a base, a first supporting device and a second supporting device which are symmetrically arranged at the two ends of the base in the longitudinal direction, a first drive unit and a second drive unit which are respectively fixed on the first supporting device and the second supporting device, a first transmission shaft and a second transmission shaft which are respectively mounted on the first supporting device and the second supporting device as well as a framework which is positioned between the first transmission shaft and the second transmission shaft, wherein the first drive unit and the second drive unit are coaxially and oppositely arranged in the longitudinal direction; one end of each of the first transmission shaft and the second transmission shaft is connected with the output end of each of the first drive unit and the second drive unit, and the other ends of the first transmission shaft and the second transmission shaft are simultaneously connected with the framework in a fastening manner through end flanges; the first drive unit and the second drive unit respectively drive the framework to rotate through the first transmission shaft and the second transmission shaft. The experiment table can complete the double-motor coaxial redundant drive control research in a lab.

Description

technical field

[0001] The invention relates to a motor experiment platform, in particular to an experiment platform used for research on dual-motor coaxial redundant drive control. Background technique

[0002] At present, in the field of automated production, since single-motor control is far from meeting the needs of modern industrial development in terms of long-distance, high-load and multi-variable control, in order to save costs, improve operational reliability and stability, ensure accuracy requirements and achieve High-power operation, dual-motor drive and its synchronous control have been widely studied in fields such as machine tools, lifting equipment, flight simulator frames and synchronous turntables that require multivariable control, redundant drives, and anti-backlash.

[0003] Dual-motor drive includes independent, flexible and rigid connection methods. In flexible or rigid connection mode, dual-motor drive can overcome the disadvantages of unbalanced load ...

Examples

Embodiment 1

[0027] Embodiment 1. Experimental research on synchronous control with the minimum output torque difference of the drive unit as the optimization index.

[0028] The first torque sensor 10 and the second torque sensor 11 are added on the test bench provided by the present invention, and are used to collect the torque signals output by the first drive unit and the second drive unit respectively, and the first drive unit and the second drive unit are calculated according to the torque signals. The torque difference output by the two drive units can minimize the output torque difference between the first drive unit and the second drive unit as the optimization index, and the synchronous control algorithm of the dual-motor coaxial redundant drive system is studied.

Embodiment 2

[0029] Embodiment 2. Experimental research on synchronous control with the minimum difference of output state quantities (angular displacement, angular velocity or angular acceleration) of the drive unit as the optimization index.

[0030] The first and second grating measuring devices are added on the experimental platform provided by the present invention, which are respectively used to collect state quantity signals such as angular displacement, angular velocity and angular acceleration output by the first drive unit and the second drive unit, according to these state quantity signals Calculate the difference between the output state quantities of the first drive unit and the second drive unit, then the difference between the output state quantities of the first drive unit and the second drive unit can be minimized as an optimization index, and the dual-motor coaxial redundant drive Synchronous control algorithm of the system.

Embodiment 3

[0031] Embodiment 3. Experimental research on synchronous control with the minimum deformation of the frame as the optimization index.

[0032] Paste the strain gauges at different positions of the frame 20, and increase the first slip ring 31 and the second slip ring 32 on the test bench provided by the present invention, and the strain on the frame 20 will be reduced by the first slip ring 31 and the second slip ring 32 The stress / strain signal collected by the chip is output to the outside of the entire mechanical system to be used to detect the stress / strain of different parts of the frame 20, and to obtain the deformation of the frame 20, then the minimum deformation of the frame 20 can be used as an optimization index. A Synchronous Control Algorithm for a Coaxial Redundant Drive System.

technical field

[0001] The invention relates to a motor experiment platform, in particular to an experiment platform used for research on dual-motor coaxial redundant drive control. Background technique

[0002] At present, in the field of automated production, since single-motor control is far from meeting the needs of modern industrial development in terms of long-distance, high-load and multi-variable control, in order to save costs, improve operational reliability and stability, ensure accuracy requirements and achieve High-power operation, dual-motor drive and its synchronous control have been widely studied in fields such as machine tools, lifting equipment, flight simulator frames and synchronous turntables that require multivariable control, redundant drives, and anti-backlash.

[0003] Dual-motor drive includes independent, flexible and rigid connection methods. In flexible or rigid connection mode, dual-motor drive can overcome the disadvantages of unbalanced load ...

Examples

Embodiment 1

[0027] Embodiment 1. Experimental research on synchronous control with the minimum output torque difference of the drive unit as the optimization index.

[0028] The first torque sensor 10 and the second torque sensor 11 are added on the test bench provided by the present invention, and are used to collect the torque signals output by the first drive unit and the second drive unit respectively, and the first drive unit and the second drive unit are calculated according to the torque signals. The torque difference output by the two drive units can minimize the output torque difference between the first drive unit and the second drive unit as the optimization index, and the synchronous control algorithm of the dual-motor coaxial redundant drive system is studied.

Embodiment 2

[0029] Embodiment 2. Experimental research on synchronous control with the minimum difference of output state quantities (angular displacement, angular velocity or angular acceleration) of the drive unit as the optimization index.

[0030] The first and second grating measuring devices are added on the experimental platform provided by the present invention, which are respectively used to collect state quantity signals such as angular displacement, angular velocity and angular acceleration output by the first drive unit and the second drive unit, according to these state quantity signals Calculate the difference between the output state quantities of the first drive unit and the second drive unit, then the difference between the output state quantities of the first drive unit and the second drive unit can be minimized as an optimization index, and the dual-motor coaxial redundant drive Synchronous control algorithm of the system.

Embodiment 3

[0031] Embodiment 3. Experimental research on synchronous control with the minimum deformation of the frame as the optimization index.

[0032] Paste the strain gauges at different positions of the frame 20, and increase the first slip ring 31 and the second slip ring 32 on the test bench provided by the present invention, and the strain on the frame 20 will be reduced by the first slip ring 31 and the second slip ring 32 The stress / strain signal collected by the chip is output to the outside of the entire mechanical system to be used to detect the stress / strain of different parts of the frame 20, and to obtain the deformation of the frame 20, then the minimum deformation of the frame 20 can be used as an optimization index. A Synchronous Control Algorithm for a Coaxial Redundant Drive System.

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