Self-adaptive backlash elimination method, device and equipment based on dual-motor coaxial driving and storage medium

Abstract

The invention discloses a self-adaptive backlash elimination method, device and equipment based on dual-motor coaxial driving and a storage medium, and relates to the technical field of electromechanical control, and the method comprises the steps: controlling a first motor and a second motor to carry out calibration when an output shaft of a control gearbox is fixed, and obtaining a backlash elimination value; based on the backlash elimination value and the user target position, motion track planning is obtained; and when the first motor and the second motor are controlled to move according to the motion track plan, adjusting the backlash elimination value according to the current value in the backlash elimination stage and the current value in the target motion stage, so that the adjusted backlash elimination value gradually reaches the actual backlash value. The technical problems that due to the fact that the tooth space value changes along with operation abrasion, the preset compensation value loses efficacy, the double motors move asynchronously, and the transmission shaft generates torsion stress are solved, the tooth space value is eliminated, the tooth space value can automatically change along with the actual tooth space value, and therefore position synchronization and torque balance are maintained for a long time in a double-motor coaxial driving system.

Description

Technical Field

[0001] This application relates to the field of electromechanical control technology, and in particular to an adaptive backlash elimination method, apparatus, device, and storage medium based on dual-motor coaxial drive. Background Technology

[0002] In applications that use dual motors coaxially to drive the same load (such as a vehicle-mounted ceiling screen), in order to ensure smooth operation, extend lifespan, and reduce dependence on mechanical precision, it is necessary to continuously maintain the synchronous output displacement of the two drive shafts throughout the entire life cycle of the motors and minimize the torsional torque in the transmission shaft.

[0003] Existing technologies primarily address backlash compensation in single-motor drive scenarios, such as classic position pre-compensation algorithms or torque feedforward methods. These methods rely on pre-calibrated fixed backlash values ​​for compensation. However, in dual-motor coaxial drive systems, the backlash values ​​of the two drive branches vary independently due to individual differences, wear, or deformation. Existing technologies cannot automatically identify and correct these variations during operation, leading to asynchronous actual output displacements of the two motors during commutation, and consequently generating additional torsional stress within the drive shaft.

[0004] Therefore, the existing technology has the following drawback: it cannot adaptively and independently adjust the backlash compensation value of each motor during operation to cope with the dynamic changes in backlash for a dual-motor coaxial drive system, thus failing to continuously ensure the synchronization of dual-axis displacement and torque balance.

[0005] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0006] The main objective of this application is to provide an adaptive backlash elimination method, apparatus, device, and storage medium based on dual-motor coaxial drive, aiming to solve the technical problem of adaptive synchronous compensation of dual-motor backlash.

[0007] To achieve the above objectives, this application proposes an adaptive backlash elimination method based on dual-motor coaxial drive. The method is applied to the motor controller of a motor servo control system, which includes a motor controller, a first motor, a second motor, and a gearbox output shaft. The method includes: Obtain the user's target location; When the output shaft of the gearbox is kept stationary, the first motor and the second motor are calibrated to obtain the backlash elimination value. Based on the backlash elimination value and the user's target position, a motion trajectory plan is obtained; When controlling the first motor and the second motor to move according to the motion trajectory plan, the current value of the backlash elimination stage and the current value of the target motion stage are obtained; Based on the backlash elimination stage current value and the target motion stage current value, the backlash elimination value is adjusted so that the adjusted backlash elimination value gradually reaches the actual backlash value.

[0008] In one embodiment, when the gearbox output shaft is kept stationary, controlling the first motor and the second motor to perform calibration to obtain a backlash elimination value includes: The output shaft of the gearbox is kept stationary. Control the first motor and the second motor to rotate in the first direction until they stall, and obtain the first stall position; Control the first motor and the second motor to rotate in the second direction until they stall, and obtain the second stall position; Based on the first stall position and the second stall position, a backlash elimination value is obtained, wherein the first direction and the second direction are opposite.

[0009] In one embodiment, the step of obtaining motion trajectory planning based on the backlash elimination value and the user's target position includes: Based on the backlash elimination value, the backlash elimination stage is determined; Based on the user's target location, determine the target movement stage; The backlash elimination stage and the target motion stage are used as motion trajectory planning.

[0010] In one embodiment, adjusting the backlash elimination value based on the backlash elimination stage current value and the target motion stage current value, so that the adjusted backlash elimination value gradually reaches the actual backlash value, includes: Based on the backlash elimination stage current value and the target motion stage current value, determine whether the backlash elimination value matches the actual backlash value, and obtain the determination result. Based on the judgment result, the backlash elimination value is adjusted so that the adjusted backlash elimination value gradually reaches the actual backlash value.

[0011] In one embodiment, determining whether the backlash elimination value matches the actual backlash value based on the backlash elimination stage current value and the target motion stage current value, and obtaining a determination result, includes: Obtain a first threshold and a second threshold, wherein the first threshold is greater than the second threshold; Based on the backlash elimination stage current value and the target motion stage current value, the matching degree judgment parameters are obtained; When the matching degree judgment parameter is greater than the first threshold, the judgment result is that the eliminated backlash value is greater than the actual backlash value. When the matching degree judgment parameter is less than the first threshold and greater than the second threshold, the value of eliminating backlash is taken as the optimal backlash value as the judgment result. When the matching degree judgment parameter is less than the second threshold, the judgment result is that the eliminated backlash value is less than the actual backlash value.

[0012] In one embodiment, adjusting the backlash elimination value based on the determination result, so that the adjusted backlash elimination value gradually reaches the actual backlash value, includes: Get the preset correction step size; When the determination result is that the backlash elimination value is greater than the actual backlash value, the backlash elimination value is reduced according to the preset correction step size, so that the adjusted backlash elimination value gradually reaches the actual backlash value. When the determination result is that the backlash elimination value is less than the actual backlash value, the backlash elimination value is increased according to the preset correction step size so that the adjusted backlash elimination value gradually reaches the actual backlash value.

[0013] In one embodiment, when controlling the first motor and the second motor to move according to the motion trajectory plan, acquiring the backlash elimination stage current value and the target motion stage current value includes: When the process of controlling the first motor and the second motor to move according to the planned motion trajectory to eliminate backlash is completed, the backlash elimination phase current value is obtained. When the process of controlling the first motor and the second motor to move according to the target motion stage planned by the motion trajectory is completed, the current value of the target motion stage is obtained.

[0014] Furthermore, to achieve the above objectives, this application also proposes an adaptive backlash elimination device based on dual-motor coaxial drive, the adaptive backlash elimination device based on dual-motor coaxial drive comprising: The acquisition module is used to acquire the user's target location; The calibration module is used to control the first motor and the second motor to perform calibration when the output shaft of the gearbox is fixed, so as to obtain the backlash elimination value; The planning module is used to obtain motion trajectory planning based on the backlash elimination value and the user's target position; The motion module is used to acquire the backlash elimination stage current value and the target motion stage current value when controlling the first motor and the second motor to move according to the motion trajectory plan. An adjustment module is used to adjust the backlash elimination value based on the backlash elimination stage current value and the target motion stage current value, so that the adjusted backlash elimination value gradually reaches the actual backlash value.

[0015] Furthermore, to achieve the above objectives, this application also proposes an adaptive backlash elimination device based on dual-motor coaxial drive. The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. The computer program is configured to implement the steps of the adaptive backlash elimination method based on dual-motor coaxial drive as described above.

[0016] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the adaptive backlash elimination method based on dual-motor coaxial drive as described above.

[0017] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the adaptive backlash elimination method based on dual-motor coaxial drive as described above.

[0018] This application provides an adaptive backlash elimination method based on dual-motor coaxial drive. The method is applied to the motor controller of a motor servo control system, which includes a motor controller, a first motor, a second motor, and a gearbox output shaft. The method includes: acquiring a user target position; calibrating the first and second motors to obtain a backlash elimination value while keeping the gearbox output shaft stationary; obtaining a motion trajectory plan based on the backlash elimination value and the user target position; acquiring the backlash elimination stage current value and the target motion stage current value while controlling the first and second motors to move according to the motion trajectory plan; and adjusting the backlash elimination value according to the backlash elimination stage current value and the target motion stage current value, so that the adjusted backlash elimination value gradually reaches the actual backlash value. By employing a technique of real-time acquisition and comparison of motor currents during the backlash elimination stage and the target motion stage, and iteratively correcting the preset backlash elimination value based on this comparison result, the method solves the technical problem of preset compensation value failure caused by backlash value changes with wear during operation, leading to asynchronous movement of the dual motors and torsional stress on the transmission shaft. Compared with existing technologies that rely on fixed compensation values, this method achieves the elimination of backlash values ​​by automatically following changes in actual backlash values ​​through closed-loop feedback and adaptive adjustment, thereby maintaining position synchronization and torque balance in a dual-motor coaxial drive system for a long time. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart illustrating Embodiment 1 of the adaptive backlash elimination method based on dual-motor coaxial drive in this application. Figure 2 This is a block diagram of the motor servo control system provided in Embodiment 1 of the adaptive backlash elimination method based on dual-motor coaxial drive of this application. Figure 3 This is a diagram of the motor motion control process provided in Embodiment 1 of the adaptive backlash elimination method based on dual-motor coaxial drive in this application. Figure 4 This is a flowchart of the backlash elimination value adjustment provided in Embodiment 1 of the adaptive backlash elimination method based on dual-motor coaxial drive of this application; Figure 5 This is a schematic diagram of the module structure of the adaptive backlash elimination device based on dual-motor coaxial drive according to an embodiment of this application; Figure 6 This is a schematic diagram of the device structure of the hardware operating environment involved in the adaptive backlash elimination method based on dual-motor coaxial drive in the embodiments of this application.

[0022] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings.

[0023] Explanation of icon numbers: Motor controller 10, first motor 20, second motor 30, gearbox output shaft 40. Detailed Implementation

[0024] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0025] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0026] The main solution of this application embodiment is as follows: obtaining the user's target position; while controlling the output shaft of the gearbox to remain stationary, controlling the first motor and the second motor to perform calibration to obtain a backlash elimination value; based on the backlash elimination value and the user's target position, obtaining a motion trajectory plan; while controlling the first motor and the second motor to move according to the motion trajectory plan, obtaining the backlash elimination stage current value and the target motion stage current value; adjusting the backlash elimination value according to the backlash elimination stage current value and the target motion stage current value, so that the adjusted backlash elimination value gradually reaches the actual backlash value.

[0027] In this embodiment, for ease of description, the following will describe the motor controller execution body of the motor servo control system.

[0028] Existing technologies primarily address backlash compensation in single-motor drive scenarios, such as classic position pre-compensation algorithms or torque feedforward methods. These methods rely on pre-calibrated fixed backlash values ​​for compensation. However, in dual-motor coaxial drive systems, the backlash values ​​of the two drive branches vary independently due to individual differences, wear, or deformation. Existing technologies cannot automatically identify and correct these variations during operation, leading to asynchronous actual output displacements of the two motors during commutation, and consequently generating additional torsional stress within the drive shaft.

[0029] This application provides a solution that employs a technique of real-time acquisition and comparison of motor current during the backlash elimination phase and the target motion phase, and iteratively corrects the preset backlash elimination value based on this comparison result. This solves the technical problem of preset compensation value failure caused by changes in backlash value due to wear during operation, which in turn leads to asynchronous movement of the two motors and torsional stress in the drive shaft. Compared with existing techniques that rely on fixed compensation values, this method, through closed-loop feedback and adaptive adjustment, enables the backlash elimination value to automatically follow changes in the actual backlash value, thereby maintaining long-term position synchronization and torque balance in a dual-motor coaxial drive system.

[0030] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device capable of performing the above functions, such as a motor controller of a motor servo control system. The following description uses a motor controller of a motor servo control system as an example to illustrate this embodiment and the subsequent embodiments.

[0031] Based on this, embodiments of this application provide an adaptive backlash elimination method based on dual-motor coaxial drive, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the adaptive backlash elimination method based on dual-motor coaxial drive of this application.

[0032] like Figure 2 As shown, the method is applied to the motor controller of a motor servo control system, which includes a motor controller 10, a first motor 20, a second motor 30, and a gearbox output shaft 40.

[0033] It should be noted that the motor controller 10 refers to the electronic control unit used to receive control commands, execute control algorithms, and drive the motor. In this system, it is the main body for implementing the adaptive backlash elimination method. The first motor 20 and the second motor 30 refer to two servo motors of the same or different models and specifications, but coaxially connected to drive the same load. They are connected to the gearbox output shaft 40 through independent reduction gearboxes or a shared gearbox. The gearbox output shaft 40 refers to the mechanical transmission shaft that combines the torque output of the first motor 20 and the second motor 30 and finally transmits it to the load (such as a vehicle ceiling screen). This shaft is driven by the output of the two motors, and its motion reflects the comprehensive effect of the dual-motor drive.

[0034] In this embodiment, the adaptive backlash elimination method based on dual-motor coaxial drive includes steps S10~S50: Step S10: Obtain the user's target location; It should be noted that the user target position refers to the spatial angle or linear displacement command value issued by the user or the host computer system, which is expected to be the final destination of the load (such as a vehicle-mounted ceiling screen).

[0035] It is understandable that since the core task of the dual-motor coaxial drive system is to drive the load to the designated position accurately and synchronously, performing step S10 can provide a clear position reference for subsequent motion trajectory planning and backlash compensation, thereby avoiding motor motion chaos or asynchrony caused by unclear target position, and improving the motion control accuracy and reliability of the entire system.

[0036] Step S20: When the output shaft of the gearbox is kept stationary, the first motor and the second motor are calibrated to obtain the backlash elimination value. It should be noted that the backlash elimination value refers to the amount of motor shaft angular displacement that needs to be compensated in advance to offset the physical clearance between each gear pair in the gear transmission system.

[0037] It is understandable that, due to the assembly clearance and tooth flank clearance of multiple gear pairs inside the gearbox, the motor first idles for a certain angle to "fill" these clearances before the load can start moving. Therefore, step S20 can pre-quantify the total "idle stroke" of each motor drive chain, thereby avoiding output delay, inaccurate positioning, and asynchronous movement of the two motors caused by ignoring this clearance in subsequent motion control, and improving the system's response speed and synchronization accuracy.

[0038] In one feasible implementation, step S20 may include: controlling the output shaft of the gearbox to remain stationary; controlling the first motor and the second motor to rotate along a first direction until they stall, thereby obtaining a first stall position; controlling the first motor and the second motor to rotate along a second direction until they stall, thereby obtaining a second stall position; and obtaining a backlash elimination value based on the first stall position and the second stall position, wherein the first direction and the second direction are opposite.

[0039] It should be noted that the first direction refers to the initial rotation direction of the motor during calibration (e.g., forward), and the first stall position refers to the motor shaft position code value when the motor rotates in the first direction until its output torque cannot overcome the fixed load resistance; the second direction refers to the rotation direction opposite to the first direction (e.g., reverse), and the second stall position refers to the motor shaft position code value when the motor rotates in the second direction until its output torque cannot overcome the fixed load resistance.

[0040] For example, during the calibration process, the gearbox output shaft is first mechanically locked, and then the motor is controlled to rotate forward until all backlash in the gear train is eliminated and the tooth surface of the driving gear is in close contact with the tooth surface of the driven gear. At this time, the motor enters a stall state because the output shaft is fixed, and the encoder reading at this time is recorded as the forward stall position (first stall position). Subsequently, the motor is controlled to rotate in reverse until the reverse tooth surfaces are in contact, and the motor stalls again. The reverse stall position (second stall position) is recorded. Finally, the absolute difference between the two stall positions is calculated to obtain the total backlash elimination value of the motor drive chain.

[0041] In this embodiment, by directly measuring the angular displacement of the motor between two extreme stall positions under actual mechanical constraints (with the output shaft fixed), the problem of difficulty in accurately and directly obtaining the actual physical backlash due to uncertain load or complex measurement environment in traditional methods is solved, providing reliable reference data for subsequent accurate compensation.

[0042] The above are merely feasible implementations of step S20 provided in this embodiment. This embodiment does not specifically limit the specific implementation of step S20.

[0043] Step S30: Based on the backlash elimination value and the user target position, obtain the motion trajectory plan; It should be noted that motion trajectory planning refers to the generation of a set of control command sequences, including timing, target position, and speed curves, to drive the motor from its current position to the user's target position.

[0044] Understandably, before the motor starts and drives the load, it needs to eliminate the backlash in the gear transmission chain. If the process of eliminating backlash is combined with the target motion process into a single command, it will cause sudden changes in speed and torque in the early stage of motion. Therefore, step S30 can decompose the entire motion process into two independent and smoothly connected stages, thereby avoiding the problems of decreased positioning accuracy, mechanical vibration and asynchronous movement of the two motors caused by incomplete backlash elimination or impact during the elimination process, and improving the stability and control accuracy of the motion process.

[0045] In one feasible implementation, step S30 may include: determining a backlash elimination stage based on the backlash elimination value; determining a target motion stage based on the user's target position; and using the backlash elimination stage and the target motion stage as motion trajectory planning.

[0046] It should be noted that the backlash elimination stage refers to the preparatory stage in which the motor rotates only by the angular displacement of the backlash elimination value according to a preset speed curve (such as a trapezoidal curve), so that the gear teeth are fully engaged, but the load has not yet started to move. Figure 3 As shown, it includes a backlash elimination acceleration section, a backlash elimination constant speed section, and a backlash elimination deceleration section; the target motion stage refers to the formal motion stage starting from the position after backlash elimination is completed, where the motor drives the load according to a preset speed curve to finally reach the user's target position, as shown below. Figure 3 As shown, it includes an acceleration phase, a constant speed phase, and a deceleration phase.

[0047] For example, when planning a command to move from position A to position B, the first trajectory segment is planned: the target position is "eliminate backlash value", the purpose of which is to eliminate backlash; after the first segment is completed, the second trajectory segment is planned: the target position is "user target position B + eliminate backlash value", and only at this stage does the load begin to actually move. Both trajectories are planned using smooth velocity curves to ensure continuous motion.

[0048] In this embodiment, by decomposing the traditional single target position command into two coherent and independently planned stages, namely "eliminating backlash" and "driving load", the problems of motor idling, load delayed response, and the resulting asynchrony of torque and position between the two motors caused by backlash during commutation or start-up are solved.

[0049] The above are merely feasible implementations of step S30 provided in this embodiment. This embodiment does not specifically limit the specific implementation of step S30.

[0050] Step S40: When controlling the first motor and the second motor to move according to the motion trajectory plan, obtain the backlash elimination stage current value and the target motion stage current value; It should be noted that the first motor 20 corresponds to Figure 3 The left motor, the second motor 30 corresponds to Figure 3 For the right motor, the backlash elimination phase current value refers to the real-time operating current of the motor at the instant the backlash elimination phase ends, i.e., as shown below. Figure 3 The left and right motors are shown as the end currents of their backlash elimination deceleration phases. The target motion phase current value refers to the real-time operating current of the motor at the instant the acceleration process is completed and the motor enters a uniform motion state during the target motion phase, i.e., as shown below. Figure 3 The diagram shows the end current of the acceleration phase for the left motor and the end current of the acceleration phase for the right motor.

[0051] It is understandable that, since the operating current of the motor is directly related to its output torque and load state, at the end of the backlash elimination stage, the motor only overcomes the friction and inertia within the transmission chain; while when the target motion stage is completed, the motor has already begun to overcome the external load. Therefore, by performing step S40, characteristic current data reflecting different load states can be collected during a complete motion process, thereby avoiding the problem that relying on a single, static current measurement value cannot accurately reflect whether the backlash compensation is appropriate, and providing key data basis for improving the accuracy of adaptive adjustment of backlash value.

[0052] In one feasible implementation, step S40 may include: acquiring the backlash elimination stage current value when the process of controlling the first motor and the second motor to move according to the motion trajectory planning is completed; and acquiring the target motion stage current value when the process of controlling the first motor and the second motor to move according to the motion trajectory planning is completed.

[0053] For example, such as Figure 3 As shown, when the controller controls the motor to perform motion, it determines the completion point of each stage by monitoring the position feedback in real time: when the actual position of the motor reaches the "backlash elimination value", that is, at the end of the backlash elimination deceleration stage of the left motor and the right motor, the motor phase current at this moment is recorded as the backlash elimination stage current value; subsequently, based on the speed curve, it determines the end of the motion acceleration stage process, that is, at the end of the left motor running acceleration stage and the end of the right motor running acceleration stage, and records the motor phase current at this moment as the target motion stage current value.

[0054] In this embodiment, by collecting current values ​​at the completion times of two distinct motion stages with different physical meanings, the problem of difficulty in locating and obtaining current feature points that can effectively characterize the backlash compensation effect and load state during continuous motion is solved, providing stable and reliable input data for subsequent backlash value adjustment based on current ratio.

[0055] The above are merely feasible implementations of step S40 provided in this embodiment. This embodiment does not specifically limit the specific implementation of step S40.

[0056] Step S50: Adjust the backlash elimination value according to the backlash elimination stage current value and the target motion stage current value, so that the adjusted backlash elimination value gradually reaches the actual backlash value.

[0057] It should be noted that the actual backlash value refers to the total physical clearance that actually exists in the gear transmission system under the current operating conditions (after considering factors such as wear, temperature, and assembly changes).

[0058] It is understandable that, due to wear and material deformation during long-term use, the physical backlash of the gear system will gradually increase. If the initial calibrated and fixed backlash elimination value is used for compensation, the backlash cannot be completely eliminated. Therefore, step S50 is performed to dynamically correct the preset compensation value based on the current characteristics reflecting the current load state. This avoids problems such as asynchronous movement, increased commutation impact, and reduced transmission efficiency caused by insufficient or excessive backlash compensation, thereby improving the synchronization accuracy and operational stability of the system throughout its entire life cycle.

[0059] This embodiment provides an adaptive backlash elimination method based on dual-motor coaxial drive. When the output shaft of the control gearbox is fixed, the first and second motors are calibrated to obtain a backlash elimination value. Based on the backlash elimination value and the user's target position, a motion trajectory is planned. When the first and second motors move according to the planned motion trajectory, the backlash elimination value is adjusted according to the current value during the backlash elimination stage and the current value during the target motion stage, so that the adjusted backlash elimination value gradually reaches the actual backlash value. This solves the technical problem of the preset compensation value failing due to changes in backlash value with wear during operation, leading to asynchronous movement of the dual motors and torsional stress on the transmission shaft. It enables the backlash elimination value to automatically follow changes in the actual backlash value, thereby maintaining long-term position synchronization and torque balance in the dual-motor coaxial drive system.

[0060] In one feasible implementation, step S50 may include steps S501 to S502: Step S501: Based on the backlash elimination stage current value and the target motion stage current value, determine whether the backlash elimination value matches the actual backlash value, and obtain the determination result; It should be noted that the judgment result is a qualitative conclusion on the relationship between the currently used backlash elimination value and the actual physical backlash value, used to indicate whether the current compensation value is too large, too small, or within a reasonable matching range.

[0061] It is understandable that since the actual backlash value changes dynamically with the operation of the system and cannot be directly measured, but can be indirectly reflected by the current ratio at different stages of operation, step S501 can evaluate the compensation status of mechanical backlash through a quantifiable electrical parameter, thereby avoiding blind adjustments based solely on experience or fixed cycles and improving the pertinence and effectiveness of backlash compensation adjustment.

[0062] Specifically, the step of determining whether the backlash-eliminating value matches the actual backlash value based on the backlash-eliminating stage current value and the target motion stage current value, and obtaining a determination result, includes: obtaining a first threshold and a second threshold, wherein the first threshold is greater than the second threshold; obtaining a matching degree judgment parameter based on the backlash-eliminating stage current value and the target motion stage current value; when the matching degree judgment parameter is greater than the first threshold, taking the backlash-eliminating value being greater than the actual backlash value as the determination result; when the matching degree judgment parameter is less than the first threshold and greater than the second threshold, taking the backlash-eliminating value as the optimal backlash value as the determination result; and when the matching degree judgment parameter is less than the second threshold, taking the backlash-eliminating value being less than the actual backlash value as the determination result.

[0063] It should be noted that the first threshold is a preset upper limit boundary value used to determine whether the current backlash elimination value is too large; the second threshold is a preset lower limit boundary value used to determine whether the current backlash elimination value is too small; the matching degree judgment parameter is a ratio or normalized index calculated based on the current value of the backlash elimination stage and the current value of the target motion stage, and its magnitude directly represents the relative relationship between the load state of the backlash elimination stage and the target motion stage.

[0064] For example, if the backlash elimination stage only requires overcoming slight friction and inertia within the transmission system, the current value is relatively small; however, the target motion stage requires overcoming external loads and greater inertia, resulting in a significantly increased current value. When the backlash elimination value is set accurately, the current ratio should be within a reasonable range. If the ratio is too high, it indicates that the motor has already begun to "push" the external load during the backlash elimination stage, suggesting that the compensation angle is set too large; if the ratio is too low, it indicates that the backlash has not been completely eliminated, and the motor still needs additional backlash compensation in the early stages of the target motion stage, suggesting that the compensation angle is set too small. By comparing the calculated current ratio with a preset threshold range, a clear judgment result can be obtained.

[0065] Step S502: Based on the judgment result, adjust the backlash elimination value so that the adjusted backlash elimination value gradually reaches the actual backlash value; It should be noted that adjustment refers to modifying the backlash elimination value currently stored in the control system numerically; gradual attainment refers to making the backlash elimination value infinitely close to the actual physical backlash value through continuous, small-amplitude corrections in multiple motion cycles.

[0066] It is understandable that since the actual backlash value is dynamically changing and there may be fluctuations in a single current measurement, making a large correction based on a single judgment result can easily cause system oscillation or overcompensation. Therefore, step S502 is performed to adjust the compensation value in a gradual and iterative manner, thereby avoiding motion instability and repeated fluctuations in the compensation effect caused by excessive adjustment in a single step, and improving the stability and convergence speed of the system's adaptive process.

[0067] Specifically, adjusting the backlash elimination value according to the judgment result so that the adjusted backlash elimination value gradually reaches the actual backlash value includes: obtaining a preset correction step size; when the judgment result is that the backlash elimination value is greater than the actual backlash value, decreasing the backlash elimination value according to the preset correction step size so that the adjusted backlash elimination value gradually reaches the actual backlash value; and when the judgment result is that the backlash elimination value is less than the actual backlash value, increasing the backlash elimination value according to the preset correction step size so that the adjusted backlash elimination value gradually reaches the actual backlash value.

[0068] It should be noted that the preset correction step size refers to the maximum angle or percentage change allowed each time the backlash elimination value is adjusted. It is a fixed or variable parameter set manually to ensure a smooth adjustment process. For example, if the preset correction step size is set to 0.1 degrees, the current backlash elimination value is 1.5 degrees, and the judgment result is that the compensation value is too large, then before the next motion planning, the backlash elimination value will be reduced by 0.1 degrees to 1.4 degrees. After multiple motion cycles, this value will be gradually adjusted to match the actual backlash value (e.g., 1.2 degrees). This small step size and multiple approximation method ensures that the system maintains stable operation during the adaptive process and eventually converges to the optimal compensation value.

[0069] For example, such as Figure 4As shown, to determine whether backlash elimination is optimal, it is necessary to monitor the current value Ia when backlash elimination deceleration is completed (backlash elimination stage current value) and the current value Ib when motion acceleration is completed (target motion stage current value) in the process control. Calculate Ia / Ib. If Ia / Ib>60%, it means the backlash elimination value is larger than the actual backlash value, and the backlash elimination value needs to be reduced by a certain amount. If Ia / Ib<40%, it means the backlash elimination value is smaller than the actual backlash value, and the backlash elimination value needs to be increased by a certain amount. This completes the adjustment of the backlash elimination value so that the adjusted backlash elimination value gradually reaches the actual backlash value.

[0070] In this embodiment, a complete motion process is divided into two distinct stages, and the motor current at the end of each stage is collected as a key characteristic parameter. Then, a matching degree judgment parameter is constructed using the ratio of the currents in the two stages, which indirectly and stably reflects the mechanical backlash compensation state. Based on this, by comparing the matching degree judgment parameter with a preset threshold range, a qualitative judgment (too large, too small, or optimal) is achieved regarding the matching relationship between the current compensation value and the actual backlash value. Subsequently, based on this judgment result, the compensation value is iteratively corrected in a directional manner with a preset small step size. This ultimately solves the technical problem in traditional methods where backlash compensation fails due to changes in operating conditions such as wear and temperature, and online adaptive adjustment is impossible, leading to asynchronous motion, reduced transmission efficiency, and impact vibration in the dual-motor coaxial drive system. This method enables the backlash compensation value to automatically and smoothly track changes in the actual physical backlash, ensuring that the system maintains high-precision synchronous control and stable operation throughout its entire lifespan.

[0071] The above are merely feasible implementations of step S50 provided in this embodiment. This embodiment does not specifically limit the specific implementation of step S50.

[0072] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the adaptive backlash elimination method based on dual-motor coaxial drive of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0073] This application also provides an adaptive backlash elimination device based on dual-motor coaxial drive; please refer to [reference needed]. Figure 5 The adaptive backlash elimination device based on dual-motor coaxial drive includes: Module 10 is used to acquire the user's target location; The calibration module 20 is used to control the first motor and the second motor to perform calibration when the output shaft of the gearbox is fixed, so as to obtain the backlash elimination value; Planning module 30 is used to obtain motion trajectory planning based on the backlash elimination value and the user target position; Motion module 40 is used to acquire the backlash elimination stage current value and the target motion stage current value when controlling the first motor and the second motor to move according to the motion trajectory plan. The adjustment module 50 is used to adjust the backlash elimination value according to the backlash elimination stage current value and the target motion stage current value, so that the adjusted backlash elimination value gradually reaches the actual backlash value.

[0074] The adaptive backlash elimination device based on dual-motor coaxial drive provided in this application, employing the adaptive backlash elimination method based on dual-motor coaxial drive in the above embodiments, can solve the technical problem of adaptive synchronous compensation of dual-motor backlash. Compared with the prior art, the beneficial effects of the adaptive backlash elimination device based on dual-motor coaxial drive provided in this application are the same as those of the adaptive backlash elimination method based on dual-motor coaxial drive provided in the above embodiments, and other technical features in the adaptive backlash elimination device based on dual-motor coaxial drive are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0075] The calibration module 20 is also used to control the output shaft of the gearbox to remain stationary; control the first motor and the second motor to rotate in a first direction until they stall, and obtain a first stall position; control the first motor and the second motor to rotate in a second direction until they stall, and obtain a second stall position; and obtain a backlash elimination value based on the first stall position and the second stall position, wherein the first direction and the second direction are opposite.

[0076] The planning module 30 is further configured to determine the backlash elimination stage based on the backlash elimination value; determine the target motion stage based on the user's target position; and use the backlash elimination stage and the target motion stage as motion trajectory planning.

[0077] The motion module 40 is further configured to acquire the backlash elimination stage current value when the process of controlling the first motor and the second motor to move according to the motion trajectory planning is completed; and to acquire the target motion stage current value when the process of controlling the first motor and the second motor to move according to the motion trajectory planning is completed.

[0078] The adjustment module 50 is further configured to determine whether the backlash elimination value matches the actual backlash value based on the backlash elimination stage current value and the target motion stage current value, and obtain a determination result; and adjust the backlash elimination value according to the determination result so that the adjusted backlash elimination value gradually reaches the actual backlash value.

[0079] The adjustment module 50 is further configured to obtain a first threshold and a second threshold, wherein the first threshold is greater than the second threshold; obtain a matching degree judgment parameter based on the backlash elimination stage current value and the target motion stage current value; when the matching degree judgment parameter is greater than the first threshold, take the backlash elimination value being greater than the actual backlash value as the judgment result; when the matching degree judgment parameter is less than the first threshold and greater than the second threshold, take the backlash elimination value as the optimal backlash value as the judgment result; when the matching degree judgment parameter is less than the second threshold, take the backlash elimination value being less than the actual backlash value as the judgment result.

[0080] The adjustment module 50 is further configured to obtain a preset correction step size; when the determination result is that the eliminated backlash value is greater than the actual backlash value, the eliminated backlash value is reduced according to the preset correction step size so that the adjusted eliminated backlash value gradually reaches the actual backlash value; when the determination result is that the eliminated backlash value is less than the actual backlash value, the eliminated backlash value is increased according to the preset correction step size so that the adjusted eliminated backlash value gradually reaches the actual backlash value.

[0081] This application provides an adaptive backlash elimination device based on dual-motor coaxial drive. The adaptive backlash elimination device based on dual-motor coaxial drive includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the adaptive backlash elimination method based on dual-motor coaxial drive in the above embodiment 1.

[0082] The following is for reference. Figure 6 The diagram illustrates a structural schematic suitable for implementing the adaptive backlash elimination device based on dual-motor coaxial drive in the embodiments of this application. The adaptive backlash elimination device based on dual-motor coaxial drive in the embodiments of this application can include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 6 The adaptive backlash elimination device based on dual-motor coaxial drive shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0083] like Figure 6As shown, the adaptive backlash elimination device based on dual-motor coaxial drive may include a processing unit 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in ROM (Read Only Memory) 1002 or a program loaded from storage device 1003 into random access memory (RRAM) 1004. RAM 1004 also stores various programs and data required for the operation of the adaptive backlash elimination device based on dual-motor coaxial drive. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via bus 1005. Input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the adaptive backlash elimination device based on dual-motor coaxial drive to communicate wirelessly or wiredly with other devices to exchange data. Although the figure shows an adaptive backlash elimination device based on dual-motor coaxial drive with various systems, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems can be implemented alternatively.

[0084] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0085] The adaptive backlash elimination device based on dual-motor coaxial drive provided in this application, employing the adaptive backlash elimination method based on dual-motor coaxial drive in the above embodiments, can solve the technical problem of adaptive synchronous compensation of backlash between dual motors. Compared with the prior art, the beneficial effects of the adaptive backlash elimination device based on dual-motor coaxial drive provided in this application are the same as those of the adaptive backlash elimination method based on dual-motor coaxial drive provided in the above embodiments, and other technical features in this adaptive backlash elimination device based on dual-motor coaxial drive are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0086] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0087] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0088] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the adaptive backlash elimination method based on dual-motor coaxial drive in the above embodiments.

[0089] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0090] The aforementioned computer-readable storage medium may be included in an adaptive backlash elimination device based on dual-motor coaxial drive; or it may exist independently and not assembled into an adaptive backlash elimination device based on dual-motor coaxial drive.

[0091] The aforementioned computer-readable storage medium carries one or more programs that, when executed by an adaptive backlash elimination device based on dual-motor coaxial drive, cause the adaptive backlash elimination device based on dual-motor coaxial drive to: acquire a user target position; while controlling the gearbox output shaft to remain stationary, control the first motor and the second motor to perform calibration to obtain a backlash elimination value; based on the backlash elimination value and the user target position, obtain a motion trajectory plan; while controlling the first motor and the second motor to move according to the motion trajectory plan, acquire a backlash elimination stage current value and a target motion stage current value; and adjust the backlash elimination value according to the backlash elimination stage current value and the target motion stage current value, so that the adjusted backlash elimination value gradually reaches the actual backlash value.

[0092] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0093] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0094] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0095] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described adaptive backlash elimination method based on dual-motor coaxial drive, thereby solving the technical problem of adaptive synchronous compensation for dual-motor backlash. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the adaptive backlash elimination method based on dual-motor coaxial drive provided in the above embodiments, and will not be repeated here.

[0096] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the adaptive backlash elimination method based on dual-motor coaxial drive as described above.

[0097] The computer program product provided in this application can solve the technical problem of adaptive synchronous compensation for backlash in dual motors. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the adaptive backlash elimination method based on coaxial dual motor drive provided in the above embodiments, and will not be repeated here.

[0098] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. An adaptive backlash elimination method based on dual-motor coaxial drive, characterized in that, The method is applied to the motor controller of a motor servo control system, the motor servo control system including a motor controller, a first motor, a second motor, and a gearbox output shaft, the method comprising: Obtain the user's target location; When the output shaft of the gearbox is kept stationary, the first motor and the second motor are calibrated to obtain the backlash elimination value. Based on the backlash elimination value and the user's target position, a motion trajectory plan is obtained; When controlling the first motor and the second motor to move according to the motion trajectory plan, the current value of the backlash elimination stage and the current value of the target motion stage are obtained; Based on the backlash elimination stage current value and the target motion stage current value, the backlash elimination value is adjusted so that the adjusted backlash elimination value gradually reaches the actual backlash value.

2. The method as described in claim 1, characterized in that, When the output shaft of the gearbox is kept stationary, the first motor and the second motor are calibrated to obtain the backlash elimination value, including: The output shaft of the gearbox is kept stationary. Control the first motor and the second motor to rotate in the first direction until they stall, and obtain the first stall position; Control the first motor and the second motor to rotate in the second direction until they stall, and obtain the second stall position; Based on the first stall position and the second stall position, a backlash elimination value is obtained, wherein the first direction and the second direction are opposite.

3. The method as described in claim 1, characterized in that, The motion trajectory planning based on the backlash elimination value and the user's target position includes: Based on the backlash elimination value, the backlash elimination stage is determined; Based on the user's target location, determine the target movement stage; The backlash elimination stage and the target motion stage are used as motion trajectory planning.

4. The method as described in claim 1, characterized in that, The step of adjusting the backlash elimination value based on the backlash elimination stage current value and the target motion stage current value, so that the adjusted backlash elimination value gradually reaches the actual backlash value, includes: Based on the backlash elimination stage current value and the target motion stage current value, determine whether the backlash elimination value matches the actual backlash value, and obtain the determination result. Based on the judgment result, the backlash elimination value is adjusted so that the adjusted backlash elimination value gradually reaches the actual backlash value.

5. The method as described in claim 4, characterized in that, The step of determining whether the backlash elimination value matches the actual backlash value based on the backlash elimination stage current value and the target motion stage current value, and obtaining the determination result, includes: Obtain a first threshold and a second threshold, wherein the first threshold is greater than the second threshold; Based on the backlash elimination stage current value and the target motion stage current value, the matching degree judgment parameters are obtained; When the matching degree judgment parameter is greater than the first threshold, the judgment result is that the eliminated backlash value is greater than the actual backlash value. When the matching degree judgment parameter is less than the first threshold and greater than the second threshold, the value of eliminating backlash is taken as the optimal backlash value as the judgment result. When the matching degree judgment parameter is less than the second threshold, the judgment result is that the eliminated backlash value is less than the actual backlash value.

6. The method as described in claim 4, characterized in that, The step of adjusting the backlash elimination value according to the judgment result, so that the adjusted backlash elimination value gradually reaches the actual backlash value, includes: Get the preset correction step size; When the determination result is that the backlash elimination value is greater than the actual backlash value, the backlash elimination value is reduced according to the preset correction step size, so that the adjusted backlash elimination value gradually reaches the actual backlash value. When the determination result is that the backlash elimination value is less than the actual backlash value, the backlash elimination value is increased according to the preset correction step size so that the adjusted backlash elimination value gradually reaches the actual backlash value.

7. The method as described in claim 1, characterized in that, When controlling the first motor and the second motor to move according to the planned motion trajectory, acquiring the backlash elimination stage current value and the target motion stage current value includes: When the process of controlling the first motor and the second motor to move according to the planned motion trajectory to eliminate backlash is completed, the backlash elimination phase current value is obtained. When the process of controlling the first motor and the second motor to move according to the target motion stage planned by the motion trajectory is completed, the current value of the target motion stage is obtained.

8. An adaptive backlash elimination device based on dual-motor coaxial drive, characterized in that, The device includes: The acquisition module is used to acquire the user's target location; The calibration module is used to control the first motor and the second motor to perform calibration when the output shaft of the gearbox is fixed, so as to obtain the backlash elimination value; The planning module is used to obtain motion trajectory planning based on the backlash elimination value and the user's target position; The motion module is used to acquire the backlash elimination stage current value and the target motion stage current value when controlling the first motor and the second motor to move according to the motion trajectory plan. An adjustment module is used to adjust the backlash elimination value based on the backlash elimination stage current value and the target motion stage current value, so that the adjusted backlash elimination value gradually reaches the actual backlash value.

9. An adaptive backlash elimination device based on dual-motor coaxial drive, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the adaptive backlash elimination method based on dual-motor coaxial drive as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the adaptive backlash elimination method based on dual-motor coaxial drive as described in any one of claims 1 to 7.

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