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A Large Backlash Compensation Method for Steering Mechanism Based on Rolling Calculation of DC Motor Current Variance

A technology of steering mechanism and DC motor, applied in the direction of electric steering mechanism, power steering mechanism, steering mechanism, etc., which can solve the problems that cannot be solved in the control of DC motor steering system, and achieve the effect of overcoming the influence and improving the control performance

Inactive Publication Date: 2018-10-26
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The present invention is based on the fact that the traditional method cannot solve the problem of the steering system control of the DC motor when there is a large mechanical backlash, and proposes a large backlash compensation method for the steering mechanism based on the rolling calculation of the current variance of the DC motor, and has achieved a good solution effect

Method used

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  • A Large Backlash Compensation Method for Steering Mechanism Based on Rolling Calculation of DC Motor Current Variance
  • A Large Backlash Compensation Method for Steering Mechanism Based on Rolling Calculation of DC Motor Current Variance
  • A Large Backlash Compensation Method for Steering Mechanism Based on Rolling Calculation of DC Motor Current Variance

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specific Embodiment approach 1

[0019] Specific Embodiment 1: A large backlash compensation method for a steering mechanism based on the rolling calculation of the DC motor current variance described in this embodiment includes the following steps:

[0020] Step 1: Measure the current real-time data of the DC drive motor of the steering mechanism, and select the current data within a fixed time span to calculate the variance;

[0021] Step 2: Set the current variance threshold, and calculate the corresponding incremental encoder variation when the motor is running in the mechanical idle section according to the variance data;

[0022] Step 3: Convert the incremental encoder variation corresponding to the mechanical backlash section into the mechanical system rotation angle, and compensate the rotation angle to the expected control rotation angle, so as to realize the compensation of the large mechanical backlash.

specific Embodiment approach 2

[0023] Specific embodiment 2: This embodiment is a further description of the large backlash compensation method of the steering mechanism based on the rolling calculation of the DC motor current variance described in the specific embodiment 1. In this embodiment, the step 1 measures the steering mechanism DC The method of driving the real-time data of the motor current is:

[0024] Install the current acquisition card matched with the motor, and connect it with the control computer, measure the real-time data of the motor current through the current acquisition card, and transmit it to the computer.

specific Embodiment approach 3

[0025] Specific embodiment 3: This embodiment is a further description of the large backlash compensation method of the steering mechanism based on the rolling calculation of the DC motor current variance described in the specific embodiment 1. In this embodiment, a fixed time span is selected in step 1. The method of calculating the variance of internal current data is:

[0026] The real-time measured value of current at time t(k) is I t(k) , k=0,1,2...∞ is a non-negative integer, l is the number of data in the rolling calculation process, when k

[0027]

[0028] When k≥l, the calculation formula of current expectation value is:

[0029]

[0030] Current variance D(I t(k) ) is calculated as:

[0031]

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Abstract

The invention provides a steering mechanism idle stroke compensation method based on direct-current motor current variance rolling calculation and belongs to the field of control over a mechanical steering system driven by a direct-current motor. Based on the fact that the problem about control over the steering system of the direct-current motor when the large mechanical idle stroke exists cannot be solved through a traditional method, the steering mechanism large idle stroke compensation method based on direct-current motor current variance rolling calculation is provided, and a good solution effect is obtained. The steering mechanism large idle stroke compensation method based on direct-current motor current variance rolling calculation includes the steps that firstly, a current variance value is calculated in a rolled manner through a current measured value, then the variable quantity is converted into a mechanical system turning angle according to the incremental encoder variable quantity corresponding to a variance data calculation motor operated in a mechanical idle stroke section, an expected control turning angle is compensated by the turning angle to achieve compensation for the large mechanical idle stroke, and the control performance for the direct-current motor to drive the steering system is improved.

Description

technical field [0001] The invention belongs to the control field of a mechanical steering system driven by a DC motor, and relates to a method for compensating a large backlash of a steering mechanism based on rolling calculation of the current variance of a DC motor. Background technique [0002] The mechanical steering device driven by a DC motor is a widely used device, which is widely used in many engineering fields such as experimental obstacle vehicles, automated production lines, and marine azimuth propellers. The device drives the mechanical equipment through the motor to realize the steering control of the mechanical equipment. Its design cost can be high or low according to the demand, and it has strong flexibility. However, in some low-cost applications, due to machining accuracy and mechanical structure design problems, there will be a large gap between the motor drive end and the mechanical linkage end, and the rotation angle measurement device is only installe...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D5/04
CPCB62D5/046
Inventor 谢文博李伟俊张玉双张泽宇张健黄玲尤波
Owner HARBIN UNIV OF SCI & TECH