A dual-motor backlash elimination method and system based on optimal control

Abstract

The invention discloses a dual-motor backlash elimination method and system based on optimal control, which specifically includes the following steps: analyzing the mechanism of a pair of motor drive chains, and establishing a motor drive system model of gear clearance; combining the motor drive system model and Time optimal control principle, get the current setting value in the anti-backlash device; 3. If the driving current in the servo driver of the motor is less than the current setting value in step 2, the motor transmission system is in the backlash state, and proceed to step 4; 4. Combining the motor transmission system model and energy optimal control principle, transfer function; the current input from the driver to the motor passes through the transfer function in the anti-backlash device, rapidly increases with the increase of the gear backlash angle, and is fed back to the driver through the anti-backlash device , so that the gear quickly passes through the backlash. The current setting value of the present invention is accurate, so that the time point for backlash compensation of the forward and reverse motors can be grasped more accurately, and the jitter during speed switching can be reduced.

Description

technical field [0001] The invention relates to the field of electromechanical control, in particular to a dual-motor backlash elimination method and system based on optimal control. Background technique [0002] At present, the common drive of multiple motors is the main way to realize the large inertia servo system. It is widely used in industry, agriculture, military equipment and other fields, such as large-scale high-precision radar servo, artillery servo, heavy machine tool rotary table, radio telescope and other high-precision tracking equipment. In the field of multi-motor drive control, in order to obtain the effect of high torque and low speed, gear transmission is often used. Backlash exists in the process of gear transmission, and the existence of backlash seriously affects the positioning accuracy of the servo system, reduces the working bandwidth of the system, causes the equipment to vibrate, and brings a large steady-state error to the system. [0003] The ...

AI Technical Summary

Problems solved by technology

Mechanical anti-backlash methods include double-plate gear staggered tooth anti-backlash, torsion bar anti-backlash, etc., which are complicated to implement and poor in reliability.

The electro-backlash elimination method is to apply a bias torque on the motor, such as the variable-value bias torque anti-backlash method proposed by researchers at Xidian University, but the compensation value of the bias torque is the same in different gear gap existence time periods. Constant value, the torque compensation curve cannot compensate the dynamic change of the backlash angle in practical applications, and cannot completely eliminate the intermittent impact of the meshing backlash on the transmission system

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