Electric anti-backlash control method based on analog circuit and AC/DC servo system

Abstract

The invention discloses an electric anti-backlash control method based on an analog circuit and an AC / DC servo system, and the method comprises the steps: enabling two paths of speed voltage feedback signals to generate a correction signal through a rotating speed feedback voltage signal conditioning circuit, and subtracting a speed instruction signal of an upper computer from the correction signal to generate an instruction deviation signal; a load current instruction signal is generated through a speed loop PID setting circuit, a bias torque signal is generated by the load current instruction signal through a bias torque generation circuit, the bias torque signal is added with two load current instruction signals which are equal in size and opposite in sign, and finally two paths of driver current loop instruction signals are generated; the method is used for controlling two paths of alternating current (direct current) servo drive. The method is simultaneously suitable for alternating current and direct current motor drivers, a communication link and a mechanical anti-backlash device do not need to be arranged, bandwidth limitation caused by a digital loop is avoided, and the load dynamic response performance and the system stability are remarkably improved.

Description

technical field [0001] The present invention relates to the technical field of analog circuits and automatic control, in particular to load systems driven by dual motors or multiple motors, such as turntables, antenna and radar servo control systems, wind generator yaw systems, and the like. Background technique [0002] In a large gear transmission structure, the control of backlash directly affects the dynamic response characteristics of the load, and the commonly used methods of backlash elimination include mechanical backlash elimination and electric backlash elimination. Mechanical anti-backlash needs to add preload torsion spring in the structure, the structure is complicated, maintenance is difficult, and the actual effect is often not ideal. Electric backlash elimination is widely used in the form of dual-motor biasing, so that the dual motors generate a torque against the top to eliminate backlash, and there are many ways to achieve it. [0003] The AC drive analog...

AI Technical Summary

Problems solved by technology

The advantage of this method is that the digital control of the loop is realized, and the debugging is convenient; the disadvantage is that the hardware device of the speed controller is added, and the requirements for the hardware configuration are relatively high, and the driver is required to have a high-speed communication interface. The speed loop bandwidth is also limited, affecting the dynamic performance of the load

[0005] The above two patents only discussed the backlash elimination method based on AC servo, but ignored the gear backlash elimination problem of the DC servo control system

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