High-precision rotating shaft control method based on dual-motor synchronous driving

Abstract

The invention discloses a high-precision rotating shaft control method based on dual-motor synchronous driving, and relates to the technical field of motor control. According to the invention, through combination of the optical encoder and the laser interference technology, the system realizes real-time monitoring and adjustment of the phase difference between the output shafts of the two motors. Compared with a traditional motor synchronization technology, the design can accurately capture a tiny phase difference, and high-precision synchronization between the motors is ensured through real-time analysis of interference fringes. The high-precision synchronization is particularly suitable for high-speed and heavy-load application scenes, the problems of mechanical vibration and abrasion caused by synchronization errors are avoided, and the service life of equipment is prolonged. And the two motors realize mechanical synchronous transmission through the driving and driven meshing discs. When one motor breaks down, the system automatically cuts off the transmission path of the faulted motor through the cooperation of the electromagnet and the spring device, and it is ensured that the other motor can continue to work stably.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a high-precision shaft control method based on dual-motor synchronous drive. Background Art

[0002] Existing vehicle-mounted servo turntables usually use single or dual motor drives, and realize closed-loop control of position and speed through feedback sensors. However, such systems have some shortcomings in synchronous control and fault handling. Some dual-motor synchronous drive technologies usually rely on simple sensor feedback to perform synchronous control of the motor, such as direct position feedback using Hall sensors or encoders. However, in practical applications, these traditional solutions have certain limitations, mainly in terms of synchronization accuracy and anti-interference ability. Due to the resolution and response time limitations of the sensor, the existing synchronous control system may have problems with speed and position error accumulation in high-speed and high-torque scenarios, resulting in uneven output torque on the main shaft, affecting the overall work efficiency of the equipment. In addition, traditional technologies are difficult to adapt to mechanical vibration, thermal expansion and electromagnetic interference in complex environments. In particular, when a motor fails, the system lacks an effective redundant protection mechanism, which easily causes the entire equipment to shut down. Most existing technologies also lack sophisticated fault detection and fault isolation mechanisms, which greatly affects the reliability of the system. Summary of the invention

[0003] In order to overcome the defects of the above-mentioned prior art, the present invention provides the following technical solutions: a high-precision shaft control method based on dual-motor synchronous drive, including two drive motors, and a method for synchronously driving the output shafts of the two drive motors: S1, optical encoders are set on the output shafts of the two drive motors, and the encoder surfaces have reflection or diffraction characteristics; S2, and a laser transmitter is set near the encoder to divide the light beam emitted by the laser transmitter into two paths, which act on the two optical encoders corresponding to the two drive motors respectively; S3, a laser transmitter is used to generate a monochromatic light beam, and the light beam is divided into two paths by a beam splitter; S4, the two light beams are respectively guided to the encoders on the corresponding output shafts of the drive motors, and the light beams are reflected back after interacting with the encoders; S5, the two reflected light beams are combined again in the beam combiner to form an interference pattern; S6, a photoelectric detector is used to capture the changes in the interference pattern to obtain real-time phase difference information; S7, the phase difference signal is input into the control system, and the motor parameters that need to be adjusted are calculated in real time; S8, according to the parameter results, the drive signal of the motor is adjusted to achieve synchronization of speed and position.

[0004] Preferably, the two driving motors are fixed on the inner wall of the supporting heat dissipation shell through driving motor brackets, and two supporting base plates corresponding to the driving motors are also fixed on the inner wall of the supporting heat dissipation shell. The supporting base plates are also fixedly matched with the outer shell of the driving motor. A main rotating shaft support plate is fixed between the two supporting base plates, and a main rotating shaft is rotatably mounted on the main rotating shaft support plate, and two first gear plates are fixed on the main rotating shaft.

[0005] Preferably, two parallel guide sliding columns are fixed on each supporting base plate, and an extrusion frame is slidably provided on the two guide sliding columns. An extrusion spring is arranged around each guide sliding column, and both ends of the extrusion spring are fixedly matched with the supporting base plate and the extrusion frame.

[0006] Preferably, a shaft sleeve is rotatably mounted on the extrusion frame, a spline shaft is axially provided on the shaft sleeve in a spline sliding manner, the spline shaft is fixedly matched with the output shaft of the driving motor, and the shaft sleeve and the extrusion frame cannot move axially relative to each other.

[0007] Preferably, an active meshing disk is fixedly mounted on the shaft sleeve, a driven meshing disk is coaxially arranged on the side of the active meshing disk, the driven meshing disk is fixed on the driving gear, the driving gear and the driven meshing disk are coaxially arranged, the driving gear is rotatably mounted on the driving gear bracket, and the driving gear bracket is fixed on the inner wall of the supporting heat dissipation shell.

[0008] Preferably, teeth that can engage with each other are provided between the opposing surfaces of the driven meshing disc and the active meshing disc, and the active meshing disc is tightly engaged with the driven meshing disc under the action of two extrusion springs, so that the active meshing disc and the driven meshing disc can be synchronously transmitted, wherein the active meshing disc cooperates with the electromagnet in magnetic force.

[0009] Preferably, the two driving gears are meshed and driven with the corresponding first gear plate and second gear plate.

[0010] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention combines an optical encoder with laser interference technology, and the system realizes real-time monitoring and adjustment of the phase difference between the output shafts of the two motors. Compared with the traditional motor synchronization technology, the design can accurately capture the tiny phase difference, and ensure high-precision synchronization between the motors through real-time analysis of the interference fringes. This high-precision synchronization is particularly suitable for high-speed and heavy-load application scenarios, avoiding mechanical vibration and wear problems caused by synchronization errors, and extending the service life of the equipment; (2) The two motors of the present invention realize mechanical synchronous transmission through the master-slave meshing disk. When one of the motors fails, the system automatically cuts off the transmission path of the failed motor through the cooperation of the electromagnet and the spring device to ensure that the other motor can continue to work stably. This redundant design greatly improves the reliability of the system; (3) The present invention adopts a dual-motor synchronous drive design, and the output torque of the two motors can be effectively superimposed, thereby achieving higher torque output on the main shaft. Combined with precise synchronous control, the system can ensure high-precision motion control while maintaining high torque output, meeting the needs of heavy-load machinery. Compared with single-motor drive, the dual-motor drive design greatly improves the load capacity and work efficiency of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a schematic diagram of the structure of the heat dissipation housing supporting the present invention.

[0012] Figure 2 It is a schematic diagram of the overall structure of the present invention.

[0013] Figure 3 This is a schematic diagram of the structure of the drive motor of the present invention.

[0014] Figure 4 It is a schematic diagram of the structure of the extrusion frame of the present invention.

[0015] In the figure: 101-support base plate; 102-electromagnet; 103-guide sliding column; 104-extrusion spring; 105-extrusion frame; 106-sleeve; 107-spline shaft; 108-active meshing plate; 109-driven meshing plate; 110-driving gear; 111-driving motor; 112-driving motor bracket; 113-main shaft support plate; 114-driving gear bracket; 115-first gear plate; 116-second gear plate; 117-main shaft; 118-support heat dissipation shell. DETAILED DESCRIPTION

[0016] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0017] The present invention provides a high-precision rotating shaft control method based on dual-motor synchronous drive, comprising two driving motors 111, and a method for synchronously driving the output shafts of the two driving motors 111: S1, optical encoders are arranged on the output shafts of the two driving motors 111, and the surfaces of the encoders have reflection or diffraction characteristics; S2, a laser transmitter is arranged near the encoder, and the light beam emitted by the laser transmitter is divided into two paths, which act on two optical encoders corresponding to the two driving motors 111 respectively; S3, a laser transmitter is used to generate a monochromatic light beam, and the light beam is divided into two paths by a beam splitter; S4, the two light beams are respectively guided to the encoders on the output shafts of the corresponding driving motors 111, and the light beams interact with the encoders and then reflect back; S5, the two reflected light beams are combined again in a beam combiner to form an interference pattern; S6, a photoelectric detector is used to capture the changes in the interference pattern to obtain real-time phase difference information; S7, the phase difference signal is input into the control system, and the motor parameters that need to be adjusted are calculated in real time; S8, according to the parameter results, the driving signal of the motor is adjusted to achieve synchronization of speed and position.

[0018] The two driving motors 111 are fixed to the inner wall of the support heat dissipation housing 118 through the driving motor bracket 112. Two supporting base plates 101 corresponding to the driving motors 111 are also fixed to the inner wall of the support heat dissipation housing 118. The supporting base plates 101 are also fixedly matched with the outer shell of the driving motor 111. A main shaft supporting plate 113 is fixed between the two supporting base plates 101. A main shaft 117 is rotatably mounted on the main shaft supporting plate 113. Two first gear plates 115 are fixed to the main shaft 117. Two parallel guide sliding columns 103 are fixed to each supporting base plate 101. Extrusion frames 105 are slidably arranged on the two guiding sliding columns 103. An extrusion spring 104 is arranged around each guiding sliding column 103. The two ends of the extrusion spring 104 are fixedly matched with the supporting base plate 101 and the extrusion frame 105. A shaft sleeve 106 is rotatably mounted on the extrusion frame 105. A spline shaft 107 is provided on the shaft sleeve 106 in an axial direction in a spline sliding manner. The spline shaft 107 is fixedly matched with the output shaft of the driving motor 111, and the shaft sleeve 106 and the extrusion frame 105 cannot move relative to each other in the axial direction. An active meshing disc 108 is fixedly mounted on the shaft sleeve 106. A driven meshing disc 109 is coaxially arranged on the side of the active meshing disc 108. The driven meshing disc 109 is fixed on the driving gear 110. The driving gear 110 and the driven meshing disc 109 are coaxially arranged. The driving gear 110 is rotatably mounted on a driving gear bracket 114. The driving gear bracket 114 is fixed on the inner wall of the supporting heat dissipation housing 118. The driven meshing disc 109 and the driving meshing disc 108 are provided with teeth that can be engaged with each other between their opposite surfaces. The driving meshing disc 108 is tightly engaged with the driven meshing disc 109 under the action of two extrusion springs 104, so that the driving meshing disc 108 and the driven meshing disc 109 can be synchronously transmitted, wherein the driving meshing disc 108 and the electromagnet 102 cooperate with each other by magnetic force. The two driving gears 110 are meshed with the corresponding first gear disc 115 and the second gear disc 116 for transmission.

[0019] The laser transmitter generates a beam of highly stable monochromatic laser light. The laser beam first passes through a beam splitter and is split into two beams: beam A and beam B. Beam A is emitted from the beam splitter, passes through multiple reflectors (depending on the spatial structure layout inside the heat dissipation housing 118), and is guided to the encoder of the output shaft of the first drive motor 111. On the encoder, beam A is reflected back and returns along the original path. Beam B is emitted from the beam splitter, passes through another set of reflectors, and is guided to the encoder of the output shaft of another drive motor 111. On the encoder, beam B is also reflected back and returns along the original path. The reflected beams A and B meet again at the beam splitter. Since the two beams of light pass through different paths and interact with the encoders of the output shafts of their respective drive motors 111, there will be a phase difference when they return, and the phase difference causes the two beams of light to interfere in space. The combined beam passes through a beam combiner or is directly projected onto a photodetector to detect changes in interference fringes. The changes in the brightness of the interference fringes reflect the relative motion and phase difference between the two motor shafts. The photoelectric detector sends the detected signal to the control system, and the control system calculates the motor parameters that need to be adjusted according to the interference signal. The control signal is sent to the two drive motors 111 respectively to adjust the drive of the two drive motors 111 to achieve synchronization.

[0020] When the two drive motors 111 are working normally, the output shaft of the drive motor 111 will drive the spline shaft 107 to rotate, the spline shaft 107 will drive the sleeve 106 to rotate, the sleeve 106 will drive the active meshing disc 108 to rotate, the active meshing disc 108 will be engaged with the driven meshing disc 109 under the action of the extrusion spring 104, at this time the active meshing disc 108 will drive the driven meshing disc 109 to rotate, the driven meshing disc 109 will drive the drive gear 110 to rotate, the two drive gears 110 will drive the corresponding first gear disc 115 and the second gear disc 116 to rotate, because the first gear disc 115 and the second gear disc 116 are coaxial, it is necessary to ensure that the output shafts of the two drive motors 111 are synchronized. This method can increase the redundancy of the equipment and the output torque on the main shaft 117.

[0021] If one of the two drive motors 111 is damaged, the control system detects the current change inside the corresponding drive motor 111 and starts the corresponding electromagnet 102. The electromagnet 102 generates magnetic force to attract the active meshing disk 108 downward, thereby separating the meshing relationship between the active meshing disk 108 and the driven meshing disk 109 (the extrusion spring 104 is compressed). At this time, the transmission between the output shaft of the drive motor 111 and the drive gear 110 is cut off. Therefore, the power output of the normally working drive motor 111 will not be transmitted to the output shaft of the damaged drive motor 111, thereby ensuring efficient transmission of the drive motor 111.

Claims

1. A high-precision shaft control method based on dual-motor synchronous drive, characterized in that: Comprising two driving motors (111), a method for synchronously driving the output shafts of the two driving motors (111) comprises the following steps; S1. Optical encoders are arranged on the output shafts of the two drive motors (111), and the surfaces of the encoders have reflection or diffraction characteristics; S2, and arranging a laser transmitter near the encoder, dividing the light beam emitted by the laser transmitter into two paths, which act on two optical encoders corresponding to the two drive motors (111) respectively; S3, using a laser transmitter to generate a monochromatic light beam, and splitting the light beam into two paths through a beam splitter; S4, respectively guiding the two light beams to the encoders on the output shafts of the corresponding drive motors (111), and the light beams interact with the encoders and are reflected back; S5, the two reflected light beams are combined again in the beam combiner to form an interference pattern; S6. Use a photoelectric detector to capture the change of the interference pattern and obtain real-time phase difference information; S7, input the phase difference signal into the control system, and calculate the motor parameters that need to be adjusted in real time; S8. According to the parameter results, adjust the driving signal of the motor to achieve synchronization of speed and position.

2. A high-precision shaft control method based on dual-motor synchronous drive according to claim 1, characterized in that: The two driving motors (111) are fixed to the inner wall of the supporting heat dissipation shell (118) via a driving motor bracket (112); two supporting base plates (101) corresponding to the driving motors (111) are also fixed to the inner wall of the supporting heat dissipation shell (118); the supporting base plates (101) are also fixedly matched with the outer shell of the driving motor (111); a main rotating shaft supporting plate (113) is fixed between the two supporting base plates (101); a main rotating shaft (117) is rotatably mounted on the main rotating shaft supporting plate (113); and two first gear plates (115) are fixed to the main rotating shaft (117).

3. A high-precision shaft control method based on dual-motor synchronous drive according to claim 2, characterized in that: Two parallel guide sliding columns (103) are fixed on each support base plate (101), and a pressing frame (105) is slidably arranged on the two guide sliding columns (103). A pressing spring (104) is arranged around each guide sliding column (103), and two ends of the pressing spring (104) are fixedly matched with the support base plate (101) and the pressing frame (105).

4. The high-precision shaft control method based on dual-motor synchronous drive according to claim 3 is characterized in that: A shaft sleeve (106) is rotatably mounted on the extrusion frame (105), a spline shaft (107) is axially arranged on the shaft sleeve (106) in a spline sliding manner, the spline shaft (107) is fixedly matched with an output shaft of a driving motor (111), and the shaft sleeve (106) and the extrusion frame (105) cannot move relative to each other axially.

5. The high-precision shaft control method based on dual-motor synchronous drive according to claim 4 is characterized in that: A driving meshing disc (108) is fixedly mounted on the shaft sleeve (106), a driven meshing disc (109) is coaxially arranged on the side of the driving meshing disc (108), the driven meshing disc (109) is fixed on the driving gear (110), the driving gear (110) and the driven meshing disc (109) are coaxially arranged, the driving gear (110) is rotatably mounted on a driving gear bracket (114), and the driving gear bracket (114) is fixed on the inner wall of a supporting heat dissipation housing (118).

6. The high-precision shaft control method based on dual-motor synchronous drive according to claim 5, characterized in that: A toothed shape capable of engaging with each other is provided between the opposing surfaces of the driven meshing disc (109) and the driving meshing disc (108); the driving meshing disc (108) is tightly engaged with the driven meshing disc (109) under the action of two extrusion springs (104), so that the driving meshing disc (108) and the driven meshing disc (109) can be synchronously transmitted, wherein the driving meshing disc (108) and the electromagnet (102) cooperate with each other by magnetic force.

7. A high-precision shaft control method based on dual-motor synchronous drive according to claim 6, characterized in that: The two driving gears (110) mesh with the corresponding first gear plate (115) and second gear plate (116) for transmission.

Images