A mechanical gap impact suppression device and method using dual encoders

Abstract

The invention discloses a mechanical gap impact suppression device using dual encoders, including a servo controller, a driver, a motor, a transmission mechanism, a load, a motor encoder, and a load encoder. The driver is electrically connected to the motor, and the motor encoder, the motor, the transmission mechanism, the load, and the load encoder are connected in sequence; the load encoder and the motor encoder are both electrically connected to the servo controller; and a control method of the device is disclosed. The invention can help reduce equipment vibration, reduce wear and damage, extend service life, reduce noise, and improve working conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical clearance control of a transmission system, and in particular to a mechanical clearance impact suppression device and method using a dual encoder. Background Art

[0002] CNC machine tools are powered by servo motors, which push the load through transmission mechanisms such as gears, ball screws, worm gears or threaded screws to achieve various processing tasks.

[0003] Due to the gap in the mechanical transmission system, the drive motor often transitions from one contact surface to another when accelerating or decelerating, and the system is in a gap state during the transition. In the gap state, the servo motor is equivalent to running at no load. If not controlled, it will hit the other contact surface at a very high speed, thus generating a great impact, which is not only accompanied by huge noise, but also easily damages the equipment, accelerates wear, and shortens the service life.

[0004] At present, the industry generally uses high-precision parts to minimize the gap in the transmission system. However, this method requires precision processing, which makes the equipment expensive. And as the use time increases, wear is inevitable, which will also increase the gap.

[0005] With the advancement of automatic control technology, a technology that uses control methods to reduce and suppress gap impact has emerged. A Chinese invention patent document entitled "Control method, device, system and new energy vehicle for eliminating gear gap" with application number 201811220445.5 discloses a method for suppressing transmission gap in electric vehicles. This method applies a small torque to the motor when the car is stationary that is not enough to cause the car to move, thereby eliminating the gap in the transmission system. It can be seen that this method only works when the car is started, and cannot prevent the impact caused by mechanical gap during the operation and stop of the car.

[0006] Another patent application, entitled A speed control algorithm to solve the jitter caused by mechanism gap, with application number 201811294421.4, also discloses a method of gap suppression. However, the application of this patented technology is limited to the control process starting from zero speed, accelerating, constant speed, decelerating, and finally ending at zero speed. It is not very adaptable to the complex motion patterns in CNC machine tools, and the performance varies greatly when the equipment is running with different loads, making it difficult to avoid shock and jitter.

[0007] Therefore, the prior art lacks a device and method that can effectively suppress the gap in the transmission mechanism of a CNC machine tool. Summary of the invention

[0008] In order to make up for the deficiencies of the prior art, the present invention provides a mechanical gap impact suppression device and method using dual encoders.

[0009] The present invention is achieved through the following technical solutions:

[0010] A mechanical gap impact suppression device using dual encoders includes a servo controller, a driver, a motor, a transmission mechanism, a load, a motor encoder, and a load encoder. The driver is electrically connected to the motor, and the motor encoder, the motor, the transmission mechanism, the load, and the load encoder are connected in sequence; the load encoder and the motor encoder are both electrically connected to the servo controller.

[0011] The servo controller includes a gap judgment module, a speed limiting module, a speed selection module and a speed control module, wherein the gap judgment module is electrically connected to the speed limiting module and the speed selection module respectively, the speed limiting module is electrically connected to the speed selection module, and the speed selection module is electrically connected to the speed control module. The driver is electrically connected to the speed control module, the motor encoder is electrically connected to the speed control module and the gap judgment module respectively, and the load encoder is electrically connected to the gap judgment module and the speed limiting module respectively.

[0012] The gap judgment module includes an RS trigger.

[0013] The transmission mechanism includes a driving component and a driven component, and the driven component drives the load.

[0014] A method for mechanical gap impact suppression device using dual encoders includes the following steps:

[0015] S100 is initialized and automatically measures the gap angle between the active component and the driven component: The active component rotation angle θ measured by the motor encoder D The rotation angle θ of the driven component measured by the load encoder L Measure the gap angle between the motor and the load;

[0016] S200 reads the real-time angle θ of the motor encoder and load encoder D and θ L ;

[0017] S300 calculates motor and load speed: using real-time angle θ D and θ L Perform differentiation to calculate the speed of the active and driven components;

[0018] S400 calculates the gap speed given: the speed limit module calculates the gap speed given based on the load speed and the original speed given value;

[0019] S500 determines whether the active component and the driven component are in contact state according to the speed and position, i.e., the gap speed and the gap position angle, and sends a signal to the speed selector;

[0020] S600 selects a speed setting according to the contact state: if the gap judgment module determines that the active component and the driven component are in a contact state, the speed selection module selects the original speed setting; if the gap judgment module determines that the active component and the driven component are in a gap state, the speed selection module selects the gap speed setting;

[0021] S700 controls the motor according to the speed setting: the speed selection module sends the speed information to the speed control module, and then the speed control module controls the motor speed through the driver.

[0022] The step S100 is initialized to automatically measure the clearance angle between the active component and the driven component. Specifically, S101 calculates the clearance angle: keep the driven component stationary, that is, θ L The motor is rotated clockwise until the active component of the transmission mechanism contacts the driven component, so that the active component no longer rotates. The angle of the active component at this time is θ D1 ; Keep the driven component still and rotate the active component counterclockwise so that the two contact in opposite directions. The angle of the active component wheel is θ D2 , the relative position of the driven component and the active component is calibrated, that is,

[0023]

[0024] The clearance angle between the active component and the driven component is defined as 2α, that is:

[0025] 2α=θ D1 -θ D2 ;

[0026] S102 determines the gap position angle,

[0027] When the active component contacts the driven component in the positive direction, it is defined as the positive contact state, at which:

[0028] θ D -θ L =α;

[0029] When the active component contacts the driven component in the reverse direction, it is defined as a negative contact state, in which:

[0030] θ D -θ L = -α;

[0031] When the active component and the driven component are not in contact, the transmission mechanism is in a clearance state, at which:

[0032] -α<θ D -θ L <α;

[0033] The clearance position angle of the transmission mechanism is defined as:

[0034] θ B =θ D -θ L ;

[0035] The specific process of calculating the gap velocity given in step S400 is to first determine the gap velocity curve where ω BC is the value of the constant gap speed curve, taking 5-10% of the rated speed

[0036] or

[0037]

[0038] Among them, ω BM is the minimum gap speed, which is 5-10% of the rated speed; k is the slope of the gap speed curve;

[0039] Then calculate the gap speed given by the gap speed curve

[0040]

[0041] The step S500 determines whether the contact state is in accordance with the speed and position, namely the gap speed and the gap position angle. Specifically, the step S500 includes:

[0042] S501 gap judgment module according to the real-time θ D and θ L Calculate θ B and gap velocity ω B ,in

[0043] S502 uses RS trigger to determine whether the active component and the driven component are in contact state. First, define

[0044]

[0045] Where R represents the size of the gap; 0.8α≤α0≤0.95α;

[0046]

[0047] The value of S represents the size of the gap velocity; ω B0 The value range is 1%-5% of the rated speed of the motor;

[0048] Input R and S into the two input terminals of the RS trigger respectively through the formula The Q value is calculated, where Q n+1 is the latest calculation result of Q, Q nis the state of Q before calculation, n is an integer greater than or equal to 0; when the Q value is 1, it is judged to be in contact state; when the Q value is 0, it is judged to be in gap state;

[0049] S503: the gap determination module sends the contact state information output by the RS trigger to the speed selection module.

[0050] α0=0.9α;ω B0 1% of the rated speed of the motor.

[0051] The transmission ratio between the active component and the transmission component is r, and the actual rotation angle of the transmission component is θ G , the θ L = r·θ G .

[0052] The present invention has the following beneficial technical effects:

[0053] 1. The present invention uses two position sensors fixed on the servo motor and the load to measure the positions of the active component and the driven component in the transmission mechanism and calculate their speeds, so that the clearance and contact state of the transmission mechanism can be quickly determined according to the relative relationship between the position and the speed.

[0054] 2. The method of the present invention can adjust the speed setting value of the motor speed controller at any time according to the gap state, and suppress the gap impact by limiting the relative speed when the active component and the driven component are in contact during the gap transition process.

[0055] 3. The method of the present invention can achieve variable gap speed, so that the active component and the driven component run at a higher relative speed when the distance between them is far, and reduce the relative speed when approaching the contact point, thereby greatly suppressing contact impact and speeding up the time required for gap transition, thereby achieving flexible gap transition.

[0056] 4. By reducing gap impact, the present invention can help reduce equipment vibration, reduce wear and damage, extend service life, reduce noise, and improve working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The present invention will be further described below in conjunction with the accompanying drawings.

[0058] Attached Figure 1 It is a schematic diagram of the structure of the dual encoder gap impact suppression device.

[0059] Attached Figure 2 It is a schematic diagram of a transmission mechanism with clearance and a specific implementation method.

[0060] Attached Figure 3 Schematic diagram of the RS trigger used for gap judgment.

[0061] Attached Figure 4 It is the relative speed transition curve in the present invention.

[0062] Attached Figure 5 The present invention is a flow chart of the dual encoder gap impact suppression method.

[0063] Attached Figure 6 This is an implementation example of the method of the present invention in a servo press.

[0064] Attached Figure 7 This is the speed transition curve when the patented method is not used.

[0065] Attached Figure 8 It is the speed transition curve when using the patented method. DETAILED DESCRIPTION

[0066] The structure of the mechanical gap impact suppression device of the present invention is as shown in the attached Figure 1 As shown, it includes a servo controller, a driver, a motor, a transmission mechanism, a load, a motor encoder and a load encoder, wherein the driver is electrically connected to the motor, and the motor encoder, the motor, the transmission mechanism, the load and the load encoder are connected in sequence, that is, one end of the output shaft of the motor is connected to the motor encoder and the other end is connected to the transmission mechanism, the other end of the transmission mechanism is connected to the load, and the load encoder is installed on the load; the servo controller is electrically connected to the driver, the motor encoder and the load encoder respectively. The transmission mechanism includes an active component and a driven component, the active component drives the driven component to rotate, and the driven component drives the load to move.

[0067] The servo controller includes four modules, namely, a gap judgment module, a speed limit module, a speed selection module and a speed control module, wherein the gap judgment module is electrically connected to the speed limit module and the speed selection module respectively, the speed limit module is electrically connected to the speed selection module, and the speed selection module is electrically connected to the speed control module. The driver is electrically connected to the speed control module, the motor encoder is electrically connected to the speed control module and the gap judgment module respectively, and the load encoder is electrically connected to the gap judgment module and the speed limit module respectively.

[0068] The gap judgment module includes an RS trigger.

[0069] The flow chart of the mechanical gap impact suppression method of the present invention is shown in the attached figure. Figure 5 As shown below, combined with the attached Figure 2 The gap transmission mechanism provided in Figure 1 A detailed explanation is given on the method of suppressing mechanical clearance impact.

[0070] Figure 1The transmission mechanism in the servo motor is composed of an active component and a driven component, with a gap between them. The active component is connected to one end of the servo motor shaft, and the other end of the motor shaft is connected to the motor encoder to measure the rotation angle of the active component. The driven component is connected to one end of the load rotating shaft, and the other end of the load rotating shaft is connected to the load encoder to measure the angle or position of the load rotating shaft. The motor rotates by providing current through the driver. The current is controlled by the servo controller, so that the rotation speed and angle of the motor can be controlled. The angle signals generated by the motor encoder and the load encoder are sent to the servo controller. The servo controller uses these two signals to determine whether the transmission mechanism is in a gap state. When the transmission mechanism enters the gap state, the servo controller controls the rotation speed of the active component so that the relative speed of the active component and the driven component when reaching from one contact surface to another is as small as possible, thereby reducing collision.

[0071] Simplified structure of transmission mechanism with clearance Figure 2 Indicates. There are various ways to implement specific transmission mechanisms, such as gears, ball screws, threaded screws, worm gears, etc. For gears and worm gears, there is generally a speed ratio between the driving wheel and the driven wheel. In this case, the speed ratio parameter should be added to the above formula. For ball screws and threaded screws, one part on both sides of the gap is rotational motion and the other part is linear motion. This patent takes a rotating mechanism with a speed ratio of 1 as an example only to introduce the method, but it can be easily extended to the various transmission mechanism occasions mentioned above.

[0072] Attached Figure 5 The implementation flow chart of the patented method is introduced. The method runs in the form of an algorithm program inside the servo controller. When the program starts, it is first initialized and the gap angle is measured. Then it enters an infinite loop. In each loop, the position signals of the motor encoder and the load encoder are first read, the angles of the two encoders are calculated, and the speed is calculated based on the angles. Subsequently, the gap speed reference is calculated based on the original speed reference, the gap position, and the load speed. Thereafter, the gap state is determined based on the obtained sensor position and speed parameters, and one of the original speed reference and the gap speed reference is selected according to the gap state and sent to the speed controller to adjust the motor rotation speed at any time. The program is repeatedly run according to the above method, and the transmission mechanism can cross the gap state in a gentle manner by accurately controlling the motor speed.

[0073] The following is combined with Figure 1 To Attachment Figure 5 The method of suppressing mechanical gap impact using dual encoders is introduced in detail.

[0074] Simplified structure of transmission mechanism with clearance Figure 2The transmission mechanism includes a driving wheel and a driven wheel. The driving wheel is fixed on the driving shaft and driven by the servo motor. The driven wheel is fixed on the driven shaft and drives the load to rotate.

[0075] S100 is initialized and automatically measures the clearance angle between the driving wheel and the driven wheel. The details are as follows:

[0076] The rotation angle of the driving shaft is denoted as θ D , the driven shaft rotation angle is denoted as θ L .

[0077] S101 calculates the clearance angle. The relationship between the driving wheel angle and the driven wheel angle is defined as follows: Keep the driven wheel stationary, that is, θ L The driving wheel remains unchanged, and the driving wheel is rotated clockwise until the driving wheel contacts the driven wheel, so that the driving wheel no longer rotates. The angle of the driving wheel at this time is θ D1 ; Keep the driven wheel still and rotate the driving wheel counterclockwise so that the two wheels touch each other in opposite directions. The angle of the driving wheel at this time is θ D2 The relative position of the driven wheel and the driving wheel is calibrated, that is, defined as:

[0078]

[0079] The clearance angle between the driving wheel and the driven wheel is defined as 2α, that is:

[0080] 2α=θ D1 -θ D2 ;

[0081] S102 Determine the gap position angle

[0082] When the driving wheel contacts the driven wheel in the positive direction, it is defined as the positive contact state. At this time, there are:

[0083] θ D -θ L =α;

[0084] When the driving wheel contacts the driven wheel in the opposite direction, it is defined as a negative contact state, at which:

[0085] θ D -θ L = -α;

[0086] When the driving wheel and the driven wheel are not in contact, the transmission mechanism is in a gap state, at this time:

[0087] -α<θ D -θ L <α;

[0088] The clearance position angle of the transmission mechanism is defined as:

[0089] θ B =θ D -θ L ;

[0090] S200 reads the real-time angle θ of the motor encoder and load encoder D and θ L :

[0091] S300 calculates motor and load speeds Figure 2 The driving shaft speed and driven shaft speed in: The driving shaft rotation speed is recorded as ω D , the rotation speed of the driven shaft is denoted as ω L , respectively, by differentiating the angle, that is,

[0092]

[0093]

[0094] S400 calculates the gap speed given:

[0095] The speed limit module calculates the gap speed reference based on the load speed and the original speed reference. The speed limit module compares the original speed reference with the load speed value it obtains. If the difference between the two is too large, a value close to the load speed is calculated as the gap speed reference and sent to the speed selection module.

[0096] The size of the gap speed given value is as follows: Figure 4 The curve shown is calculated. Figure 4 Two maximum gap velocity curves are given. If expressed in formula, the constant gap velocity curve is

[0097]

[0098] in Represents the absolute value of the maximum gap speed given value, ω BC is the value of the constant gap velocity curve; the triangular gap velocity curve is

[0099]

[0100] where ω BM is the minimum gap velocity of the triangular gap velocity curve, and k is the slope of the triangular gap velocity curve.

[0101] ω BC and ω BMIt is the relative impact speed between the driving wheel and the driven wheel at the moment when the transmission mechanism switches from the clearance state to the contact state. Its value is determined according to the requirements of the actual equipment and is based on whether the impact generated is acceptable. It can be taken as about 5-10% of the rated speed. If the value is too large, the impact is strong; if the value is too small, the transition process is slow, affecting the control effect.

[0102] The meaning of the curve is that when in the gap state, if the original speed given value ω * With load speed ω L When the absolute value of the difference is greater than the value specified by the curve in the figure, the load speed is added (if the original speed setting is greater than the load speed) or subtracted (if the original speed setting is less than the load speed) from the value represented by the gap speed curve and output as the gap speed setting value; otherwise, the original speed setting value is output as the gap speed setting value. The gap speed setting value is defined as The above description is expressed as

[0103]

[0104] Attached Figure 4 The constant gap speed curve in the figure indicates that the calculation of the gap speed given value does not depend on the gap position, and the absolute value of the maximum gap speed given value remains constant at any gap position. The triangular gap speed curve indicates that when the gap is large (when the absolute value of the gap position angle is close to 0), the absolute value of the maximum gap speed given value is also large, and the relative speed is reduced when the driving wheel and the driven wheel are about to contact. This can speed up the gap transition time while ensuring a small contact speed.

[0105] S500 determines whether it is in contact state based on speed and position, namely gap speed and gap position angle:

[0106] S501 based on real-time θ D and θ L Calculating λ B and gap velocity ω B ,in When the transmission mechanism is in contact, the gap speed is equal to zero;

[0107] When the gaps between the driving wheel and the driven wheel in the positive and negative directions are equal, that is, when the transmission mechanism is in the middle state of the gap, we have: θ D =θ L .

[0108] Generally speaking, when the driving wheel pushes the driven wheel to rotate in the positive direction, the formula θ D -θ L=α is established. If the driving wheel suddenly decelerates at this time, and the driven wheel maintains the original rotation speed due to inertia, the two wheels will quickly reach the negative contact state from the positive contact state through the gap state. At the moment of reaching the negative contact state, the driving wheel and the driven wheel collide with each other. The greater the relative speed of the two, the more serious the collision;

[0109] S501 determines whether the driving wheel and the driven wheel are in contact, using the RS trigger determination method.

[0110] First define

[0111]

[0112] Among them, α0 is close to α but less than α, which means that the driving wheel and the driven wheel are close to each other. The value can be selected according to the actual situation. Generally, the optional range is 0.8α≤α0≤0.95α, and 0.9 times α is preferred. If α0 is too close to α, it is easy to be disturbed. R represents the size of the gap, which means that if the driving wheel and the driven wheel are very close, that is, the contact surface of the two is close, it is logical 1, otherwise it is logical 0;

[0113]

[0114] Among them, ω B0 is a smaller gap speed value, which can be 1%-5% of the rated speed of the motor, preferably 5%. If the absolute value of the gap speed is less than this value, it means that the driving wheel and the driven wheel are relatively stationary. The value of S represents the size of the gap speed. If the speed is greater than ω B0 , then it is logic 1, otherwise it is logic 0. 1 means there is relative motion between the driving wheel and the driven wheel; 0 means the two are relatively still.

[0115] Q is the output signal of the RS trigger, logic 1 represents the contact state, and 0 represents the gap state. According to the RS trigger principle, the gap state judgment method described in the following table can be obtained:

[0116]

[0117] The meaning of this table is that if the relative speed between the driving wheel and the driven wheel is close to zero, it is considered that the two are in contact; if the relative speed is large, the gap position is comprehensively considered for further judgment: if the driving wheel and the driven wheel are far apart at this time, it is considered that the mechanism is in a gap state; if the distance is close, the most recent gap judgment result is maintained.

[0118] The Q is calculated as follows:

[0119] Input R and S into the two input terminals of the RS flip-flop for calculation, and get the output Q. The calculation formula is:

[0120]

[0121] Where Q n+1 is the latest calculation result of Q, Q n is the state of Q before calculation, and n is an integer greater than or equal to 0.

[0122] S503: The gap judgment module sends the contact state information Q output by the RS trigger to the speed selection module.

[0123] S600 selects the speed reference according to the contact status:

[0124] The output signal Q of the gap judgment module represents the contact structure state and gap position of the transmission machine, and is output to the speed selection module for selecting the speed given value.

[0125] If the output of the gap judgment module is logic 1, that is, it is in contact state, the speed selection module selects the original speed setting.

[0126] If the output of the gap judgment module is logic 0, that is, it is in the gap state, the speed selection module selects the gap speed setting.

[0127] S700 controls the motor according to the speed setting: the speed selection module sends the speed information to the speed control module, and then the speed control module controls the motor speed through the driver.

[0128] Attached Figure 6 A specific embodiment of the above-mentioned device and method is a servo press gap suppression control system. The servo controller including the patent method receives feedback signals from two sensors, the motor encoder and the load encoder, and sends current commands to the driver according to the aforementioned algorithm to control the servo motor to rotate at the required speed. The motor shaft is connected to the pinion shaft of the servo press and meshes with the large gear through gears. The load encoder is fixed on the large gear shaft. A crank is also fixed on the large gear and connected to the slider through a connecting rod. When the motor rotates, the slider can move up and down along the guide rail to complete the stamping process of the workpiece.

[0129] The transmission ratio between the large and small gears is r, and the gear gap is defined by the angle of the small gear shaft. In order to calculate according to this patented method, the angle of the large gear shaft must be multiplied by the transmission ratio r and converted to the motor shaft. For this purpose, the angle of the large gear shaft is defined as θ G , then θ L = r·θ G . After that, the above formulas can be used for calculation.

[0130] Attached Figure 7 and 8The computer simulation results of this method are shown. In the simulation model, the transmission mechanism gap angle is equal to 5 degrees, and the gap speed adopts a triangular gap speed curve. The model applies a speed step command: a constant speed command of -25rad / s is given before time t=1 second to make the motor enter stable rotation, and suddenly changes to 50rad / s at t=1 second. The curve records the curve of motor speed and gap speed.

[0131] Attached Figure 7 It can be seen that after the speed step command is issued, the transmission mechanism immediately enters the gap state from the contact state, the motor speed rises rapidly, and the driving wheel reaches the positive contact surface of the driven wheel at about 1.01 seconds after crossing the gap, and collides at a speed of 40rad / s.

[0132] Attached Figure 8 This is the case of using the patented method. It can be seen that after the speed given step command is issued, the transmission mechanism immediately enters the gap state from the contact state, the motor speed first increases rapidly, and then decreases. At about 1.032 seconds, the driving wheel reaches the positive contact surface of the driven wheel and collides at a relative speed of 2rad / s. It can be seen that after adopting the patented method, the collision speed between the driving wheel and the driven wheel is reduced to 5% of that without this method, and the impact energy is 0.25%. The effect is obvious. The price paid is that it takes a slightly longer time to complete the transition process, which is completely negligible in the production process.

[0133] The goal of the servo press is to precisely control the position of the slider. To this end, it is only necessary to add a position controller based on the speed control function of the patented method, that is, to add the corresponding software algorithm inside the servo controller. The position controller receives the position reference signal from the user interface, reads the position information of the load from the load encoder, generates the original speed reference based on the deviation between the load position and the given position, and sends it to the patented gap impact suppression program, so that the position of the large gear can be precisely controlled. According to the determined relationship between the large gear angle and the slider position, the slider position can be precisely controlled.

Claims

1. A mechanical gap impact suppression device using dual encoders, comprising a servo controller, a driver, a motor, a transmission mechanism, a load, and a motor encoder, characterized in that: It also includes a load encoder, the driver is electrically connected to the motor and the servo controller respectively, the motor encoder, the motor, the transmission mechanism, the load, and the load encoder are connected in sequence; the load encoder and the motor encoder are both electrically connected to the servo controller; the transmission mechanism includes an active component and a driven component, and the driven component drives the load; The above device is used in a method for suppressing mechanical gap impact, comprising the following steps: S100 is initialized and automatically measures the gap angle between the active component and the driven component: The active component rotation angle θ measured by the motor encoder D The rotation angle θ of the driven component measured by the load encoder L Measure the gap angle between the motor and the load; S200 reads the real-time angle θ of the motor encoder and load encoder D and θ L ; S300 calculates motor and load speed: using real-time angle θ D and θ L Perform differentiation to calculate the speed of the active and driven components; S400 calculates the gap speed given: the speed limit module calculates the gap speed given based on the load speed and the original speed given value; S500 determines whether the active component and the driven component are in contact state according to the speed and position, i.e., the gap speed and the gap position angle, and sends a signal to the speed selector; S600 selects a speed setting according to the contact state: if the gap judgment module determines that the active component and the driven component are in a contact state, the speed selection module selects an original speed setting; If the gap judgment module judges that the active component and the driven component are in a gap state, the speed selection module selects the speed given by the gap; S700 controls the motor according to the speed setting: the speed selection module sends the speed information to the speed control module, and then the speed control module controls the motor speed through the driver.

2. The mechanical gap impact suppression device using dual encoders according to claim 1 is characterized in that: The servo controller includes a gap judgment module, a speed limiting module, a speed selection module and a speed control module, wherein the gap judgment module is electrically connected to the speed limiting module and the speed selection module respectively, the speed limiting module is electrically connected to the speed selection module, and the speed selection module is electrically connected to the speed control module; the driver is electrically connected to the speed control module, the motor encoder is electrically connected to the speed control module and the gap judgment module respectively, and the load encoder is electrically connected to the gap judgment module and the speed limiting module respectively.

3. The mechanical gap impact suppression device using dual encoders according to claim 2 is characterized in that: The gap judgment module includes an RS trigger.

4. A method for mechanical gap impact suppression device using dual encoders, characterized in that: The following steps are included: S100 is initialized and automatically measures the gap angle between the active component and the driven component: The active component rotation angle θ measured by the motor encoder D The rotation angle θ of the driven component measured by the load encoder L Measure the gap angle between the motor and the load; The mechanical gap impact suppression device using dual encoders includes a servo controller, a driver, a motor, a transmission mechanism, a load, a motor encoder and a load encoder. The driver is electrically connected to the motor and the servo controller respectively, and the motor encoder, the motor, the transmission mechanism, the load and the load encoder are connected in sequence; the load encoder and the motor encoder are both electrically connected to the servo controller; the transmission mechanism includes an active component and a driven component, and the driven component drives the load; S200 reads the real-time angle θ of the motor encoder and load encoder D and θ L ; S300 calculates motor and load speed: using real-time angle θ D and θ L Perform differentiation to calculate the speed of the active and driven components; S400 calculates the gap speed given: the speed limit module calculates the gap speed given based on the load speed and the original speed given value; S500 determines whether the active component and the driven component are in contact state according to the speed and position, i.e., the gap speed and the gap position angle, and sends a signal to the speed selector; S600 selects a speed setting according to the contact state: if the gap judgment module determines that the active component and the driven component are in a contact state, the speed selection module selects the original speed setting; if the gap judgment module determines that the active component and the driven component are in a gap state, the speed selection module selects the gap speed setting; S700 controls the motor according to the speed setting: the speed selection module sends the speed information to the speed control module, and then the speed control module controls the motor speed through the driver.

5. The method of the mechanical gap impact suppression device using dual encoders according to claim 4, characterized in that: The step S100 is initialized to automatically measure the clearance angle between the active component and the driven component, specifically including S101 calculating the clearance angle to keep the load stationary, that is, θ L The motor is rotated clockwise until the active component of the transmission mechanism contacts the driven component, so that the active component no longer rotates. The angle of the active component at this time is θ D1 ; Keep the driven component still and rotate the active component counterclockwise so that the two contact in opposite directions. The angle of the active component at this time is θ D2 , the relative position of the driven component and the active component is calibrated, that is, The clearance angle between the active component and the driven component is defined as 2α, that is: 2a=θ D1 -θ D2 ; S102 determines the gap position angle, When the active component contacts the driven component in the positive direction, it is defined as the positive contact state. At this time, there is: θ D -θ L =α; When the active component contacts the driven component in the reverse direction, it is defined as a negative contact state, at which: θ D -θ L = -α; When the active component and the driven component are not in contact, the transmission mechanism is in a gap state, at this time: -α<θ D -θ L <α; The clearance position angle of the transmission mechanism is defined as: i B =θ D -θ L 。 6. The method of the mechanical gap impact suppression device using dual encoders according to claim 5, characterized in that: The specific process of calculating the gap velocity given in step S400 is to first determine the gap velocity curve where ω BC is the value of the constant gap speed curve, taking 5-10% of the rated speed, or Among them, ω BM is the minimum gap speed, which is 5-10% of the rated speed; k is the slope of the gap speed curve; Then calculate the gap speed given by the gap speed curve 7. The mechanical gap using dual encoders according to claim 5 A method for suppressing an impact of a device, characterized in that: The step S500 determines whether the contact state is in accordance with the speed and position, namely the gap speed and the gap position angle. Specifically, the step S500 includes: S501 gap judgment module according to the real-time θ D and θ L Calculate θ B and gap velocity ω B ,in S502 uses RS trigger to determine whether the driving wheel and the driven wheel are in contact. First, define Where R represents the size of the gap; 0.8α≤α0≤0.95α; The value of S represents the size of the gap velocity; ω B0 The value range is 1%-5% of the rated speed of the motor; Input R and S into the two input terminals of the RS flip-flop respectively through the formula Q n+1 =S+RQ n The Q value is calculated, where Q n+1 is the latest calculation result of Q, Q n is the state of Q before calculation, n is an integer greater than or equal to 0; when the Q value is 1, it is judged to be in contact state; when the Q value is 0, it is judged to be in gap state; S503: the gap determination module sends the contact state information output by the RS trigger to the speed selection module.

8. The method of the mechanical gap impact suppression device using dual encoders according to claim 7, characterized in that: α0=0.9α;ω B0 1% of the rated speed of the motor.

9. The mechanical gap using dual encoders according to claim 5 A method for suppressing an impact of a device, characterized in that: The transmission ratio of the active component to the transmission component is r, and the rotation angle of the transmission component is θ G , the θ L = r·θ G .

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