Method and system for eliminating gear clearance of vehicle-mounted ceiling screen synchronously driven by double motors

Abstract

The invention discloses a gear clearance elimination method for a dual-motor synchronous driving vehicle-mounted ceiling screen, which comprises the following steps: S1, regarding the action of opening the ceiling screen as forward motion, regarding the closing of the ceiling screen as return stroke starting, and generating a gear clearance; s2, an instruction for starting the ceiling screen is given, the left motor and the right motor both operate at the output speed of V0, the output torque T < open-left > of the left motor and the output torque T < open-right > of the right motor are adjusted until T < open-left > is larger than or equal to Tf1 and T < open-right > is larger than or equal to Tf2, and the operation is switched to a normal starting state; and S3, an instruction for closing the ceiling screen is given, the left motor and the right motor both operate at the output speed of V0, the output torque T < off-left > of the left motor and the output torque T < off-right > of the right motor are adjusted till T < off-left > is larger than or equal to Tf3 and T < off-right > is larger than or equal to Tf4, and the operation is switched to the normal closing state. According to the invention, the output torque of the left motor and the right motor for driving the ceiling screen is regulated and controlled, so that the collision caused by a gap between gears is reduced, and the movement synchronism of the two motors is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of motor motion control for a vehicle-mounted ceiling screen, and in particular to a method and system for eliminating gear clearance of a vehicle-mounted ceiling screen synchronously driven by dual motors. Background Art

[0002] At present, as a type of vehicle-mounted screen, the vehicle ceiling screen has been widely used in the automotive field. Its main function is to provide entertainment news and other information to passengers in the middle and rear rows. As the name suggests, the vehicle ceiling screen is inverted on the top of the vehicle. Due to the limited space in the vehicle, when the ceiling screen is opened or closed, it is not only required to have a smooth, safe and stable movement trajectory, but also to fully consider the user experience. Therefore, there are high requirements for the noise and smoothness of the ceiling screen switch movement control.

[0003] In the prior art, the switch motion control of the vehicle-mounted ceiling screen is generally achieved by using a single motor with a Hall sensor as the shaft power end, and a position sensor magnetic encoder as the driven end, and the motor and the screen shaft are connected through a gear reduction transmission. In order to achieve the function of the motor output torque to drive the switch movement of the ceiling screen, it is necessary to add a 3-4-stage reduction box between the motor output shaft and the ceiling screen shaft to achieve the effect of reducing speed and increasing torque. However, due to the tolerance of gear processing between the gears in the gearbox, there must be gear clearance, which will lead to idling during the return stroke of the ceiling screen and instantaneous collision between gears, thereby generating screen jitter and startup noise. That is, if the elimination of gear clearance is not considered, the following problems will exist:

[0004] 1. When the ceiling screen starts to return, due to the idle travel of the motor and the high speed of the gear at the motor output end, collisions between the two adjacent gears will occur, thus generating noise;

[0005] 2. The motor's idle travel several times compensates for the gear gap, resulting in cumulative errors, which are more obvious in dual-motor control systems;

[0006] 3. During the dual-motor control process, there are motor gearboxes at both ends of the screen shaft, and the gear gaps in the two gearboxes may not be consistent. This will cause the gear at one end (with a small gap) to mesh first, and the gear at the other end (with a large gap) to mesh later, resulting in the motors at both ends being out of sync. Summary of the invention

[0007] The present invention provides a method and system for eliminating gear clearance of a vehicle-mounted ceiling screen that is synchronously driven by two motors, which effectively reduces gear collision noise and collision damage and effectively improves the synchronization of the motors at both ends of the screen axis, thereby making the movement trajectory of the screen switch smoother and more stable. The method and system can solve at least one of the above-mentioned technical problems.

[0008] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0009] A method for eliminating gear clearance of a vehicle-mounted ceiling screen driven synchronously by dual motors comprises the following steps:

[0010] S1: The action of opening the ceiling screen is regarded as a forward motion. The ceiling screen is opened to the maximum position and then returns and closes as a return start. The forward motion and the return start are opposite motion processes, resulting in gear clearance.

[0011] S2: Dual motors synchronously drive the vehicle-mounted ceiling screen system to issue a command to open the ceiling screen. The left and right motors both run at an output speed of V0, and the output torque T of the left motor is adjusted. 开 左 And the output torque T of the right motor 开 右 , until T 开 左 ≥Tf1 and T 开 右 ≥Tf2, the tooth clearances of the left motor and the right motor have been compensated, the clearances between the two motors have been eliminated, and the dual-motor synchronously drives the vehicle-mounted ceiling screen system to switch to the normal start state;

[0012] S3: The dual motors synchronously drive the vehicle-mounted ceiling screen system to issue a command to close the ceiling screen. The left and right motors both run at an output speed of V0, and the output torque T of the left motor is adjusted. 关 左 And the output torque T of the right motor 关 右 , until T 关 左 ≥Tf3 and T 关 右 ≥Tf4, the tooth clearances of the left motor and the right motor have been compensated, the clearances between the two motors have been eliminated, and the dual-motor synchronously drives the vehicle-mounted ceiling screen system to switch to the normal closed state.

[0013] Furthermore, when the ceiling screen is opened, the gravity of the ceiling screen and the output force of the motor provide driving force in the same direction; when the ceiling screen is closed, the gravity of the ceiling screen and the output force of the motor provide resistance in the opposite direction. The calibrated torque value of the left damping mechanism is T1, the calibrated torque value of the right damping mechanism is T2, the equivalent gravity torque of the screen shaft of the ceiling screen is T0, and other mechanical resistances are ΔT.

[0014] Furthermore, the S2 further comprises:

[0015] S21: When the ceiling screen is turned on, to ensure normal opening, the output torque required by the left motor is T1-T0 / 2, and the output torque required by the right motor is T2-T0 / 2;

[0016] S22: Left motor clearance compensation tooth clearance θ1: During the clearance elimination period, it is necessary to ensure that the ceiling screen cannot move, so the actual output torque Tf1 of the left motor needs to be less than T1-T0 / 2 and greater than other mechanical resistance ΔT, that is, ΔT<Tf1<T1-T0 / 2. Since ΔT is difficult to calibrate, the compensation coefficient K1 is taken, Tf1=K1*(T1-T0 / 2);

[0017] S23: Right motor clearance compensation tooth clearance θ2: During the clearance elimination period, it is necessary to ensure that the ceiling screen cannot move, so the actual output torque Tf2 of the right motor needs to be less than T2-T0 / 2 and greater than other mechanical resistance ΔT, that is, ΔT<Tf2<T2-T0 / 2. Since ΔT is difficult to calibrate, the compensation coefficient K2 is taken, Tf2=K2*(T2-T0 / 2);

[0018] Among them, K1<1, 0<K2<1.

[0019] Furthermore, the S3 further includes:

[0020] S31: When the ceiling screen is closed, to ensure normal closing, the output torque required by the left motor is T1+T0 / 2, and the output torque required by the right motor is T2+T0 / 2;

[0021] S32: Left motor clearance compensation tooth clearance θ3: During the clearance elimination period, it is necessary to ensure that the ceiling screen cannot move, so the actual output torque Tf3 of the left motor needs to be less than T1+T0 / 2 and greater than other mechanical resistance ΔT, that is, ΔT<Tf3<T1+T0 / 2. Since ΔT is difficult to calibrate, the compensation coefficient K3 is taken, Tf3=K3*(T1+T0 / 2);

[0022] S33: Right motor clearance compensation tooth clearance θ4: During the clearance elimination period, it is necessary to ensure that the ceiling screen cannot move, so the actual output torque Tf4 of the right motor needs to be less than T2+T0 / 2 and greater than other mechanical resistance ΔT, that is, ΔT<Tf4<T2+T0 / 2. Since ΔT is difficult to calibrate, the compensation coefficient K4 is taken, Tf4=K4*(T2+T0 / 2);

[0023] Among them, K3<1, 0<K4<1.

[0024] Furthermore, in S2, the motor control module needs to run idle when receiving the command to turn on the ceiling screen until reaching the normal opening state operation stage.

[0025] A dual-motor synchronously driven vehicle-mounted ceiling screen system, and a method for eliminating gear clearance of the dual-motor synchronously driven vehicle-mounted ceiling screen, comprising:

[0026] The ceiling screen is the terminal structure for the system to control movement;

[0027] A driving shaft is fixed to the ceiling screen and keeps rotating synchronously;

[0028] The left motor and the right motor are respectively arranged on both sides of the ceiling screen, and are used to provide driving power;

[0029] The left reduction box and the right reduction box are respectively arranged on both sides of the ceiling screen, the left reduction box is connected to the left end of the left motor and the drive shaft, and the right reduction box is connected to the right end of the right motor and the drive shaft, and both are used to reduce speed and increase torque;

[0030] The left damping mechanism and the right damping mechanism are respectively arranged on both sides of the ceiling screen. The left damping mechanism is connected to the output end of the left motor, and the right damping mechanism is connected to the output end of the right motor. Both are used to provide resistance to prevent the ceiling screen from falling due to gravity.

[0031] Furthermore, it also includes a motor control module, which is connected to the left drive component and the right drive component respectively, and is used to transmit control signals and data;

[0032] The left driving assembly includes the left motor, the left reduction box and the left damping mechanism;

[0033] The right driving assembly includes the right motor, the right reduction box and the right damping mechanism.

[0034] The beneficial effects of the present invention are embodied in:

[0035] In the present invention, by regulating the output torque of the left and right motors for driving the ceiling screen, when the screen opening / closing command is issued, the left motor clearance compensates the gear clearance and the right motor clearance compensates the gear clearance, thereby completing the synchronous elimination of the clearance of the two motors, reducing the collision between the gears caused by the clearance, and thus avoiding the jitter when the screen is started, the collision noise caused by the meshing of the teeth during the return stroke, and the wear and damage to the gears, which helps to improve the synchronization of the dual motor movement and the smoothness and stability of the screen switch movement stroke. At the same time, the judgment of the elimination of the gear clearance is realized according to the size of the motor output torque, which is faster and more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0037] Figure 1 It is a schematic block diagram of the overall process of the gear clearance elimination method according to an embodiment of the present invention.

[0038] Figure 2 Schematic diagram of gear clearance according to an embodiment of the present invention.

[0039] Figure 3 It is a schematic block diagram of a dual-motor synchronously driven vehicle-mounted ceiling screen system according to an embodiment of the present invention.

[0040] Figure 4 It is a structural block diagram of a computer device according to an embodiment of the present invention.

[0041] The components in the attached drawings are marked as follows: 1. ceiling screen; 2. drive shaft; 3. left motor; 4. right motor; 5. left reduction gearbox; 6. right reduction gearbox; 7. left damping mechanism; 8. right damping mechanism. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. In the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0043] It should be noted that the meaning of “and / or” appearing in the full text includes three parallel solutions. Taking “A and / or B” as an example, it includes Solution A, Solution B, or a solution in which both A and B are satisfied.

[0044] See also Figure 1-2 The embodiment of the present invention provides a method for eliminating gear clearance of a vehicle-mounted ceiling screen driven synchronously by dual motors, comprising the following steps:

[0045] S1: The action of opening the ceiling screen 1 is regarded as a forward motion, and the ceiling screen 1 is regarded as a return start after opening to the maximum position. The forward motion and the return start are opposite motion processes, resulting in gear clearance;

[0046] S2: The dual motors synchronously drive the vehicle-mounted ceiling screen system to issue a command to open the ceiling screen 1. The left motor 3 and the right motor 4 both run at the output speed V0, and the output torque T of the left motor 3 is adjusted. 开 左 And the output torque T of the right motor 4 开 右 , until T 开 左 ≥Tf1 and T 开 右 ≥Tf2, the tooth clearances of the left motor 3 and the right motor 4 have been compensated, the clearances between the two motors have been eliminated, and the dual-motor synchronously drives the vehicle-mounted ceiling screen system to switch to the normal start state;

[0047] S3: The dual motors synchronously drive the vehicle-mounted ceiling screen system to issue a command to close the ceiling screen 1. The left motor 3 and the right motor 4 both run at the output speed of V0, and the output torque T of the left motor 3 is adjusted. 关 左 And the output torque T of the right motor 4 关 右 , until T 关 左 ≥Tf3 and T 关 右 ≥Tf4, the tooth clearances of the left motor 3 and the right motor 4 have been compensated, the clearances between the two motors have been eliminated, and the dual-motor synchronously drives the vehicle-mounted ceiling screen system to switch to the normal closed state.

[0048] See also Figure 1-3 In this embodiment, when the ceiling screen 1 is turned on, the gravity of the ceiling screen 1 and the output force of the motor provide driving force in the same direction. When the ceiling screen 1 is closed, the gravity of the ceiling screen 1 and the output force of the motor provide resistance in the opposite direction. The calibrated torque value of the left damping mechanism 7 is T1, the calibrated torque value of the right damping mechanism 8 is T2, the equivalent gravity torque of the screen shaft of the ceiling screen 1 is T0, and other mechanical resistances are ΔT. In this way, during the dual-motor synchronous motion control process, the load torques that need to be overcome are mainly: the calibrated torque value of the left damping mechanism 7 is T1, the calibrated torque value of the right damping mechanism 8 is T2, the equivalent torque of the gravity of the ceiling screen 1 is T0, and other mechanical resistances are ΔT (a small amount).

[0049] See also Figure 1-2 In this embodiment, S2 further includes:

[0050] S21: When the ceiling screen 1 is turned on, to ensure normal opening, the output torque required by the left motor 3 is T1-T0 / 2, and the output torque required by the right motor 4 is T2-T0 / 2;

[0051] S22: Gap compensation tooth gap θ1 of left motor 3: During the gap elimination period, it is necessary to ensure that the ceiling screen 1 cannot move, so the actual output torque Tf1 of left motor 3 needs to be less than T1-T0 / 2 and greater than other mechanical resistance ΔT, that is, ΔT<Tf1<T1-T0 / 2. Since ΔT is difficult to calibrate, the compensation coefficient K1 is taken, Tf1=K1*(T1-T0 / 2);

[0052] S23: Right motor 4 gap compensation tooth gap θ2: During the gap elimination period, it is necessary to ensure that the ceiling screen 1 cannot move, so the actual output torque Tf2 of the right motor 4 needs to be less than T2-T0 / 2 and greater than other mechanical resistance ΔT, that is, ΔT<Tf2<T2-T0 / 2. Since ΔT is difficult to calibrate, the compensation coefficient K2 is taken, Tf2=K2*(T2-T0 / 2);

[0053] Among them, K1<1, 0<K2<1. In practice, ΔT is much smaller than T1-T0 / 2.

[0054] See also Figure 1-2 In this embodiment, S3 further includes:

[0055] S31: When the ceiling screen 1 is closed, to ensure normal closing, the output torque required by the left motor 3 is T1+T0 / 2, and the output torque required by the right motor 4 is T2+T0 / 2;

[0056] S32: Gear gap compensation θ3 of left motor 3: During the gap elimination period, it is necessary to ensure that the ceiling screen 1 cannot move, so the actual output torque Tf3 of the left motor 3 needs to be less than T1+T0 / 2 and greater than other mechanical resistance ΔT, that is, ΔT<Tf3<T1+T0 / 2. Since ΔT is difficult to calibrate, the compensation coefficient K3 is taken, Tf3=K3*(T1+T0 / 2);

[0057] S33: Right motor 4 gap compensation tooth gap θ4: During the gap elimination period, it is necessary to ensure that the ceiling screen 1 cannot move, so the actual output torque Tf4 of the right motor 4 needs to be less than T2+T0 / 2 and greater than other mechanical resistance ΔT, that is, ΔT<Tf4<T2+T0 / 2. Since ΔT is difficult to calibrate, the compensation coefficient K4 is taken, Tf4=K4*(T2+T0 / 2);

[0058] Among them, K3<1, 0<K4<1, and in practice ΔT is much smaller than T1+T0 / 2.

[0059] In the above embodiment, the torque output of the motor during the gear clearance compensation is controlled, and the output speed V0 of the motor is generally set to around 100 rpm to ensure that the clearance can be eliminated slowly and steadily. When the gear clearance is eliminated, the fitting resistance between the two gears gradually increases. When the motor output torque increases to Tf1 (the output torque of the left motor when the screen is on), Tf2 (the output torque of the right motor when the screen is on), Tf3 (the output torque of the left motor when the screen is off), and Tf4 (the output torque of the right motor when the screen is off), it indicates that the gear clearance has been eliminated and the motor control program can be switched to a normal motion control state.

[0060] See also Figure 1-3 In this embodiment, in S2, the motor control module receives the instruction to open the ceiling screen 1 until it reaches the normal opening state operation stage, and the left motor 3 and the right motor 4 need to run idle.

[0061] See also Figure 3 The embodiment of the present invention further provides a dual-motor synchronously driven vehicle-mounted ceiling screen system, which is applicable to a method for eliminating gear clearance of the dual-motor synchronously driven vehicle-mounted ceiling screen, comprising:

[0062] Ceiling screen 1 is the terminal structure of the system to control the movement;

[0063] A driving shaft 2 is fixed to the ceiling screen 1 and keeps rotating synchronously;

[0064] The left motor 3 and the right motor 4 are respectively arranged on both sides of the ceiling screen 1, and are both used to provide driving power;

[0065] The left reduction box 5 and the right reduction box 6 are respectively arranged on both sides of the ceiling screen 1. The left reduction box 5 is connected to the left end of the left motor 3 and the drive shaft 2, and the right reduction box 6 is connected to the right end of the right motor 4 and the drive shaft 2, and both are used to reduce speed and increase torque;

[0066] The left damping mechanism 7 and the right damping mechanism 8 are respectively arranged on both sides of the ceiling screen 1. The left damping mechanism 7 is connected to the output end of the left motor 3, and the right damping mechanism 8 is connected to the output end of the right motor 4. Both are used to provide resistance to prevent the ceiling screen 1 from falling due to gravity.

[0067] With this design, the dual-motor synchronously driven vehicle-mounted ceiling screen system does not make major adjustments in hardware compared to the traditional vehicle-mounted ceiling screen structure. The key point is that the above-mentioned gear clearance elimination method is proposed on the basis of this system. Therefore, compared with the common dual-motor driven vehicle-mounted ceiling screens on the market, it has stronger applicability and practical value.

[0068] See also Figure 3 , in this embodiment, it also includes a motor control module, which is connected to the left drive component and the right drive component respectively for transmitting control signals and data;

[0069] The left driving assembly includes the left motor 3, the left reduction box 5 and the left damping mechanism 7;

[0070] The right driving assembly includes the right motor 4 , the right reduction box 6 and the right damping mechanism 8 .

[0071] With this design, the motor control module is wirelessly connected to the remote end, and technicians can remotely operate the motor control module, and then control the left drive component and the right drive component, to complete the regulation of the motor output speed and torque when the screen is on / off, and the regulation of the motor movement state when switching to normal working state.

[0072] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor executes the steps of the above method.

[0073] See also Figure 4An embodiment of the present invention further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the above method.

[0074] An embodiment of the present invention further provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the methods for eliminating gear clearances of a dual-motor synchronously driven vehicle-mounted ceiling screen in the above-mentioned embodiments.

[0075] It is understandable that the system, device and storage medium provided in the embodiments of the present invention correspond to the method provided in the embodiments of the present invention, and the explanation, examples and beneficial effects of the relevant contents can refer to the corresponding parts in the above methods.

[0076] It should be noted that those of ordinary skill in the art can understand that all or part of the steps implemented in the embodiments of the present invention can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state disk (SSD)).

[0077] In summary, in the present invention, by regulating the output torque of the left and right motors for driving the ceiling screen, when the screen opening / closing command is issued, the left motor clearance compensates the gear clearance and the right motor clearance compensates the gear clearance, thereby completing the synchronous elimination of the clearance of the dual motors, reducing the collision between the gears caused by the clearance, and thus avoiding the jitter when the screen is started, the collision noise caused by the meshing of the teeth during the return stroke, and the wear and damage to the gears, which helps to improve the synchronization of the dual motor movement and the smoothness and stability of the screen switch movement stroke. At the same time, the judgment of the elimination of the gear clearance is realized according to the size of the motor output torque, which is faster and more accurate.

[0078] It should be understood that the examples and implementation modes described herein are for illustrative purposes only and are not intended to limit the present invention. Those skilled in the art may make various modifications or changes based on the examples and implementation modes. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. Method for eliminating gear clearance of dual-motor synchronously driven vehicle-mounted ceiling screen, It is characterized in that The following steps are involved: S1: The action of opening the ceiling screen (1) is regarded as a forward movement, and the ceiling screen (1) is regarded as a return start after opening to the maximum position, and the return start is regarded as a return start. The forward movement and the return start are opposite movement processes, resulting in gear clearance; S2: The dual motor synchronously drives the vehicle-mounted ceiling screen system to issue a command to open the ceiling screen (1). The left motor (3) and the right motor (4) both run at an output speed of V0, and the output torque T of the left motor (3) is adjusted. 开 左 And the output torque T of the right motor (4) 开 右 , until T 开 左 ≥Tf1 and T 开 右 ≥Tf2, the tooth clearances of the left motor (3) and the right motor (4) have been compensated, the clearances between the two motors have been eliminated, and the dual-motor synchronously drives the vehicle-mounted ceiling screen system to switch to a normal start state for operation; S3: The dual motor synchronously drives the vehicle-mounted ceiling screen system to issue a command to close the ceiling screen (1). The left motor (3) and the right motor (4) both run at an output speed of V0, and the output torque T of the left motor (3) is adjusted. 关 左 And the output torque T of the right motor (4) 关 右 , until T 关 左 ≥Tf3 and T 关 右 ≥Tf4, the tooth clearances of the left motor (3) and the right motor (4) have been compensated, the clearances between the two motors have been eliminated, and the dual-motor synchronously drives the vehicle-mounted ceiling screen system to switch to a normal closed state for operation.

2. The method for eliminating gear clearance of a dual-motor synchronously driven vehicle-mounted ceiling screen as claimed in claim 1, It is characterized in that When the ceiling screen (1) is turned on, the gravity of the ceiling screen (1) and the output force of the motor provide driving force in the same direction. When the ceiling screen (1) is turned off, the gravity of the ceiling screen (1) and the output force of the motor provide resistance in the opposite direction. The calibrated torque value of the left damping mechanism (7) is T1, the calibrated torque value of the right damping mechanism (8) is T2, the equivalent gravity torque of the screen rotating shaft of the ceiling screen (1) is T0, and other mechanical resistance is ΔT.

3. The method for eliminating gear clearance of a dual-motor synchronously driven vehicle-mounted ceiling screen as claimed in claim 2, It is characterized in that The S2 further comprises: S21: When the ceiling screen (1) is opened, to ensure normal opening, the output torque required by the left motor (3) is T1-T0 / 2, and the output torque required by the right motor (4) is T2-T0 / 2; S22: Gap compensation tooth gap θ1 of the left motor (3): During the gap elimination period, it is necessary to ensure that the ceiling screen (1) cannot move. Therefore, the actual output torque Tf1 of the left motor (3) needs to be less than T1-T0 / 2 and greater than other mechanical resistance ΔT, that is, ΔT<Tf1<T1-T0 / 2. Since ΔT is difficult to calibrate, the compensation coefficient K1 is taken, Tf1=K1*(T1-T0 / 2); S23: Right motor (4) gap compensation tooth gap θ2: During the gap elimination period, it is necessary to ensure that the ceiling screen (1) cannot move, so the actual output torque Tf2 of the right motor (4) needs to be less than T2-T0 / 2 and greater than other mechanical resistance ΔT, that is, ΔT<Tf2<T2-T0 / 2. Since ΔT is difficult to calibrate, the compensation coefficient K2 is taken, Tf2=K2*(T2-T0 / 2); Among them, K1<1, 0<K2<1.

4. The method for eliminating gear clearance of a dual-motor synchronously driven vehicle-mounted ceiling screen as claimed in claim 2, It is characterized in that The S3 further comprises: S31: When the ceiling screen (1) is closed, to ensure normal closing, the output torque required by the left motor (3) is T1+T0 / 2, and the output torque required by the right motor (4) is T2+T0 / 2; S32: Gap compensation tooth gap θ3 of the left motor (3): During the gap elimination period, it is necessary to ensure that the ceiling screen (1) cannot move. Therefore, the actual output torque Tf3 of the left motor (3) needs to be less than T1+T0 / 2 and greater than other mechanical resistance ΔT, that is, ΔT<Tf3<T1+T0 / 2. Since ΔT is difficult to calibrate, the compensation coefficient K3 is taken, Tf3=K3*(T1+T0 / 2); S33: Right motor (4) gap compensation tooth gap θ4: During the gap elimination period, it is necessary to ensure that the ceiling screen (1) cannot move, so the actual output torque Tf4 of the right motor (4) needs to be less than T2+T0 / 2 and greater than other mechanical resistance ΔT, that is, ΔT<Tf4<T2+T0 / 2. Since ΔT is difficult to calibrate, the compensation coefficient K4 is taken, Tf4=K4*(T2+T0 / 2); Among them, K3<1, 0<K4<1.

5. The method for eliminating gear clearance of a vehicle-mounted ceiling screen driven synchronously by dual motors as claimed in claim 1, It is characterized in that In S2, when the motor control module receives the instruction to open the ceiling screen (1) until it reaches the normal opening state operation stage, the left motor (3) and the right motor (4) need to run idle.

6. A dual-motor synchronously driven vehicle-mounted ceiling screen system, applicable to a method for eliminating gear clearance of a dual-motor synchronously driven vehicle-mounted ceiling screen as claimed in any one of claims 1 to 5, It is characterized in that include: The ceiling screen (1) is the terminal structure for controlling the movement of the system; A driving shaft (2) is fixed to the ceiling screen (1) and rotates synchronously with it; A left motor (3) and a right motor (4) are respectively arranged on two sides of the ceiling screen (1), and are both used to provide driving power; A left reduction box (5) and a right reduction box (6) are arranged on both sides of the ceiling screen (1), the left reduction box (5) is connected to the left end of the left motor (3) and the drive shaft (2), and the right reduction box (6) is connected to the right end of the right motor (4) and the drive shaft (2), and both are used to reduce speed and increase torque; The left damping mechanism (7) and the right damping mechanism (8) are respectively arranged on both sides of the ceiling screen (1); the left damping mechanism (7) is connected to the output end of the left motor (3), and the right damping mechanism (8) is connected to the output end of the right motor (4), and both are used to provide resistance to prevent the ceiling screen (1) from falling due to gravity.

7. The dual-motor synchronously driven vehicle-mounted ceiling screen system as claimed in claim 6, It is characterized in that Also included is a motor control module, which is connected to the left drive assembly and the right drive assembly respectively for transmitting control signals and data; The left driving assembly comprises the left motor (3), the left reduction box (5) and the left damping mechanism (7); The right driving assembly comprises the right motor (4), the right reduction box (6) and the right damping mechanism (8).

Images