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A Method of Eliminating the Dead Space of DC Motor Based on Current Integral

A DC motor, current integration technology, applied in the direction of DC motor rotation control, excitation or armature current control, etc., can solve problems such as insufficient control accuracy and mechanical idle travel.

Inactive Publication Date: 2019-01-15
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention is to solve the problem that there is mechanical backlash in the motion control system driven by the DC motor, and the existing large mechanical backlash compensation method has insufficient control precision, and now provides a method for eliminating the backlash of the DC motor based on the current integral

Method used

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  • A Method of Eliminating the Dead Space of DC Motor Based on Current Integral
  • A Method of Eliminating the Dead Space of DC Motor Based on Current Integral
  • A Method of Eliminating the Dead Space of DC Motor Based on Current Integral

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specific Embodiment approach 1

[0022] Specific implementation mode one: refer to Image 6 Specifically illustrate this embodiment, a method for eliminating the dead space of a DC motor according to current integration described in this embodiment, the method includes the following steps:

[0023] Step 1: Determine the operating range of the DC motor motion control system, determine the sampling points of the motor current integral value during the positive and negative motion of the DC motor within the operating range, and then perform step 2;

[0024] Step 2: Make the DC motor move to contact with the mechanical transmission system, and then perform steps 3 and 5 respectively;

[0025] Step 3: Record the current position of the motor encoder on the DC motor, and use this position as the first positive sampling point in the forward running process of the DC motor, and then perform step 4;

[0026] Step 4: Make the DC motor drive the load to move from the first positive sampling point to the i-th a positiv...

specific Embodiment approach 2

[0034] Specific embodiment 2: This embodiment is a further description of a method for eliminating the lost motion of a DC motor according to current integration described in specific embodiment 1. In this embodiment,

[0035] The operating range of the DC motor motion control system is determined by the mechanical structure of the system or the limitation of the working area.

[0036] The sampling point of the motor current integral value is determined by the operating range and control precision.

[0037] In this embodiment, if the operating range is large and the control precision is high, then as many sampling points as possible should be selected, otherwise, fewer sampling points can be selected. When selecting sampling points, use the equal interval method to uniformly sample.

specific Embodiment approach 3

[0038] Specific embodiment three: This embodiment is a further description of a method for eliminating the lost motion of a DC motor according to current integration described in the specific embodiment one. In this embodiment, in step four, calculate the DC motor from the first forward The sampling point reaches the i-th aThe method of the current integral value of a forward sampling point is:

[0039] Use the current acquisition card to measure the current value of the DC motor during motion in real time, and transmit the obtained current value to the control computer,

[0040] The current integral is calculated by using multiple sets of current values ​​obtained during the exercise in step 4 and the time points corresponding to the current values.

[0041] In this embodiment, the current acquisition card matching the motor is installed and connected to the control computer, the real-time data of the motor current is measured through the current acquisition card, and transm...

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Abstract

The invention discloses a method for eliminating the idle stroke of a DC motor according to current integration, and relates to the technical field of DC motor motion control. In order to solve problems that a motion control system of DC motor drive has a mechanical idle stroke and a conventional big mechanical idle stroke compensation method is not sufficient in precision. The method comprises the step: calculating a current integration value as a system control expectation value based on the measurement values of a motor absolute encoder and a DC motor current collection card when there is no idle stroke. The method improves the control effect of a system when there is the idle stroke, and improves the control precision. The method is simple in design process, is novel in idea, and guarantees the better control effect. The method is suitable for the field of position or steering control systems of DC motor drive, and has no constraint on a specific mechanical structure of a motion control system.

Description

technical field [0001] The invention belongs to the technical field of DC motor motion control. Background technique [0002] The motion control system is to change the torque, speed, displacement and other mechanical quantities of the working machinery by controlling the input power such as the voltage, current, and frequency of the motor, so that various working machinery can operate according to people's expectations to meet the production process and other application requirements. DC servo motors are widely used in motion control systems. At the same time, DC motors drive working machinery through mechanical linkages. There will be mechanical voids or gaps in the motors and mechanical linkages, making the displacement of the motion control system Accuracy drops. [0003] At present, most of the research on using motors to overcome mechanical backlash focuses on the dual-motor method, and there are still few research results on the single-motor method. The literature ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P7/06H02P7/03
CPCH02P7/06
Inventor 谢文博张泽宇李伟俊张健黄玲许家忠尤波
Owner HARBIN UNIV OF SCI & TECH