A high-precision rotating shaft control method based on dual-motor synchronous drive

Abstract

The present invention discloses a high-precision rotating shaft control method based on dual-motor synchronous drive, which relates to the technical field of motor control. By combining an optical encoder with 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 traditional motor synchronization technologies, this design can accurately capture tiny phase differences and ensure high-precision synchronization between the motors through real-time analysis of interference fringes. This high-precision synchronization is particularly suitable for high-speed and heavy-load application scenarios, avoiding mechanical vibrations and wear problems caused by synchronization errors and extending the service life of the equipment; the two motors achieve mechanical synchronous transmission through a master-slave engagement disc. When one of the motors fails, the system automatically cuts off the transmission path of the faulty motor through the cooperation of an electromagnet and a spring device, ensuring that the other motor can continue to operate stably.

Description

Technical Field

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

[0002] Existing vehicle-mounted servo turntables usually adopt single-motor or dual-motor drive, and achieve closed-loop control of position and speed through feedback sensors. However, there are some deficiencies in such systems in terms of synchronous control and fault handling. Some dual-motor synchronous drive technologies usually rely on simple sensor feedback for motor synchronous control. For example, direct position feedback using Hall sensors or encoders is used. But in practical applications, these traditional solutions have certain limitations, mainly manifested in terms of synchronous accuracy and anti-interference ability. Due to the resolution and response time limitations of sensors, existing synchronous control systems may have problems of accumulated rotational speed and position errors in high-speed and high-torque scenarios, resulting in uneven output torque on the main rotating shaft and affecting the overall working efficiency of the equipment. In addition, traditional technologies are difficult to adapt to mechanical vibrations, thermal expansions, and electromagnetic interferences in complex environments. Especially when one motor fails, the system lacks an effective redundancy protection mechanism and is prone to causing the entire equipment to shut down. Most existing technologies also lack fine fault detection and fault isolation mechanisms, which greatly affect the reliability of the system. Summary of the Invention

[0003] To overcome the defects of the above-mentioned existing technologies, the present invention provides the following technical solution: A high-precision rotating 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 arranged on the output shafts of both drive motors, and the surface of the encoder has reflection or diffraction characteristics; S2. And a laser emitter is arranged near the encoder, and the beam emitted by the laser emitter is divided into two paths, which respectively act on the two optical encoders corresponding to the two drive motors; S3. Use the laser emitter to generate a monochromatic beam, and divide the beam into two paths through a beam splitter; S4. Guide the two beams to the encoders on the output shafts of the corresponding drive motors respectively, and the beams are reflected back after interacting with the encoders; S5. The two reflected beams are merged again in a beam combiner to form an interference pattern; S6. Use a photodetector 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 drive signal of the motor to achieve synchronization of rotational speed and position.

[0004] Preferably, the two drive motors are both fixed on the inner wall of the support and heat dissipation housing through drive motor brackets. There are also two support bottom plates corresponding to the drive motors fixed on the inner wall of the support and heat dissipation housing. The support bottom plates are also fixedly engaged with the outer shells of the drive motors. A main shaft support plate is fixed between the two support bottom plates. A main shaft is rotatably installed on the main shaft support plate. Two first gear discs and a second gear disc arranged coaxially are fixed on the main shaft.

[0005] Preferably, two parallel guide sliding columns are fixed on each support bottom plate. An extrusion frame is slidably engaged on the two guide sliding columns. An extrusion spring is disposed around each guide sliding column. The two ends of the extrusion spring are fixedly engaged with the support bottom plate and the extrusion frame.

[0006] Preferably, a bushing is rotatably installed on the extrusion frame. A spline shaft is axially spline-slidably engaged on the bushing. The spline shaft is fixedly engaged with the output shaft of the drive motor. The bushing and the extrusion frame cannot move axially relative to each other.

[0007] Preferably, a driving engagement disc is fixedly installed on the bushing. A driven engagement disc is coaxially arranged on the side of the driving engagement disc. The driven engagement disc is fixed on a driving gear. The driving gear and the driven engagement disc are coaxially arranged. The driving gear is rotatably installed on a driving gear bracket. The driving gear bracket is fixed on the inner wall of the support and heat dissipation housing.

[0008] Preferably, tooth shapes capable of being mutually engaged are provided between the opposing surfaces of the driven engagement disc and the driving engagement disc. The driving engagement disc is tightly engaged with the driven engagement disc under the action of the two extrusion springs, so that synchronous transmission can be achieved between the driving engagement disc and the driven engagement disc. Among them, the driving engagement disc and the electromagnet are magnetically engaged.

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

[0010] The present invention has the following beneficial effects compared with the prior art: (1) By combining an optical encoder with laser interference technology, the system realizes real-time monitoring and adjustment of the phase difference between the output shafts of two motors. Compared with traditional motor synchronization technologies, this design can accurately capture minute phase differences. Through real-time analysis of interference fringes, high-precision synchronization between motors is ensured. This high-precision synchronization is particularly suitable for high-speed and heavy-load application scenarios, avoiding mechanical vibrations and wear problems caused by synchronization errors and extending the service life of the equipment; (2) The two motors of the present invention achieve mechanical synchronous transmission through a driving and driven engagement disc. When one of the motors fails, the system automatically cuts off the transmission path of the faulty motor through the cooperation of an electromagnet and a spring device, ensuring that the other motor can continue to operate stably. This redundant design greatly improves the reliability of the system; (3) By adopting a design of dual-motor synchronous drive, the output torques of the two motors can be effectively superimposed, thereby achieving a higher torque output on the main rotating shaft. Combined with precise synchronous control, the system can ensure high-precision motion control while achieving a large torque output, meeting the requirements of heavy machinery. Compared with single-motor drive, the dual-motor drive design significantly improves the load capacity and working efficiency of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic structural diagram of the support and heat dissipation housing of the present invention.

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

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

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

[0015] In the figure: 101 - support bottom plate; 102 - electromagnet; 103 - guiding sliding column; 104 - extrusion spring; 105 - extrusion frame; 106 - bushing; 107 - spline shaft; 108 - driving engagement disc; 109 - driven engagement disc; 110 - driving gear; 111 - drive motor; 112 - drive motor bracket; 113 - main rotating shaft support plate; 114 - driving gear bracket; 115 - first gear disc; 116 - second gear disc; 117 - main rotating shaft; 118 - support and heat dissipation housing. DETAILED DESCRIPTION OF THE INVENTION

[0016] The technical solution of the present invention will be further described below with reference to the drawings and through specific embodiments.

[0017] The present invention provides a high-precision rotating shaft control method based on dual-motor synchronous drive, including two driving motors 111 and a method for synchronously driving the output shafts of the two driving motors 111: S1. Optical encoders are provided on the output shafts of the two driving motors 111, and the surfaces of the encoders have reflection or diffraction characteristics; S2. A laser emitter is provided near the encoders, and the light beam emitted by the laser emitter is divided into two paths and respectively acts on the two optical encoders corresponding to the two driving motors 111; S3. The laser emitter is used to generate a monochromatic light beam, and the light beam is divided into two paths by a beam splitter; S4. The two paths of light beams are respectively guided to the encoders on the output shafts of the corresponding driving motors 111, and the light beams are reflected back after interacting with the encoders; S5. The two paths of reflected light beams are merged again in a beam combiner to form an interference pattern; S6. A photodetector is used to capture the change of the interference pattern to obtain real-time phase difference information; S7. The phase difference signal is input into the control system to calculate the motor parameters that need to be adjusted in real time; S8. According to the parameter results, the driving signal of the motor is adjusted to achieve synchronous rotation speed and position.

[0018] Two drive motors 111 are both fixed on the inner wall of the support heat dissipation housing 118 through drive motor brackets 112. Two support bottom plates 101 corresponding to the drive motors 111 are also fixed on the inner wall of the support heat dissipation housing 118. The support bottom plates 101 are also fixedly fitted with the outer shells of the drive motors 111. A main shaft support plate 113 is fixed between the two support bottom plates 101. A main shaft 117 is rotatably installed on the main shaft support plate 113. Two coaxially arranged first gear discs 115 and second gear discs 116 are fixed on the main shaft 117. Two parallel guide sliding columns 103 are fixed on each support bottom plate 101. An extrusion frame 105 is slidably fitted on the two guide sliding columns 103. An extrusion spring 104 is disposed around each guide sliding column 103. The two ends of the extrusion spring 104 are fixedly fitted with the support bottom plate 101 and the extrusion frame 105. A bushing 106 is rotatably installed on the extrusion frame 105. A spline shaft 107 is axially spline-slidably fitted on the bushing 106. The spline shaft 107 is fixedly fitted with the output shaft of the drive motor 111. Axial relative movement between the bushing 106 and the extrusion frame 105 is not allowed. A driving engagement disc 108 is fixedly installed on the bushing 106. A driven engagement disc 109 is coaxially arranged on the side of the driving engagement disc 108. The driven engagement disc 109 is fixed on a drive gear 110. The drive gear 110 and the driven engagement disc 109 are coaxially arranged. The drive gear 110 is rotatably installed on a drive gear bracket 114. The drive gear bracket 114 is fixed on the inner wall of the support heat dissipation housing 118. Tooth shapes capable of being mutually clamped are provided between the opposing surfaces of the driven engagement disc 109 and the driving engagement disc 108. The driving engagement disc 108 is tightly clamped with the driven engagement disc 109 under the action of the two extrusion springs 104, so that synchronous transmission can be achieved between the driving engagement disc 108 and the driven engagement disc 109, wherein magnetic force cooperation exists between the driving engagement disc 108 and an electromagnet 102. The two drive gears 110 are in meshing transmission with the corresponding first gear discs 115 and second gear discs 116.

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

[0020] When the two drive motors 111 are operating normally, the output shaft of the drive motor 111 drives the spline shaft 107 to rotate. The spline shaft 107 drives the bushing 106 to rotate, and the bushing 106 drives the active engagement disk 108 to rotate. Under the action of the compression spring 104, the active engagement disk 108 is engaged with the driven engagement disk 109. At this time, the active engagement disk 108 drives the driven engagement disk 109 to rotate, and the driven engagement disk 109 drives the drive gear 110 to rotate. The two drive gears 110 drive the corresponding first gear disk 115 and second gear disk 116 to rotate. Since the first gear disk 115 and the second gear disk 116 are coaxial, it is necessary to ensure the synchronization of the output shafts of the two drive motors 111. This method can increase the redundancy of the equipment and the output torque on the main rotating shaft 117.

[0021] If one of the two drive motors 111 is damaged, the control system detects the change in current inside the corresponding drive motor 111 and activates the corresponding electromagnet 102. The electromagnet 102 generates a magnetic force to attract the active engagement disk 108 downward, breaking the meshing relationship between the active engagement disk 108 and the driven engagement disk 109 (the compression 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 by the normally operating drive motor 111 will not be transmitted to the output shaft of the damaged drive motor 111, thus ensuring the efficient transmission of the drive motor 111.

Claims

1. A high-precision rotating shaft control method based on dual-motor synchronous drive, characterized in that: It includes two driving motors (111), and the method for synchronously driving the output shafts of the two driving motors (111) includes the following steps; S1. Optical encoders are respectively arranged on the output shafts of the two driving motors (111), and the surfaces of the encoders have reflection or diffraction characteristics; S2. And a laser emitter is arranged near the encoders. The light beam emitted by the laser emitter is divided into two paths and respectively acts on the two optical encoders corresponding to the two driving motors (111); S3. Use the laser emitter to generate a monochromatic light beam, and divide the light beam into two paths through a beam splitter; S4. Guide the two paths of light beams to the encoders on the output shafts of the corresponding driving motors (111) respectively. After the light beams interact with the encoders, they are reflected back; S5. The two paths of reflected light beams are merged again in a beam combiner to form an interference pattern; S6. Use a photodetector to capture the change of the interference pattern and obtain real-time phase difference information; S7. Input the phase difference signal into a control system, and calculate in real time the motor parameters that need to be adjusted; S8. According to the parameter results, adjust the driving signal of the motor to achieve synchronization of speed and position.

2. The high-precision rotating shaft control method based on dual-motor synchronous drive according to claim 1, characterized in that: The two driving motors (111) are both fixed on the inner wall of the support and heat dissipation housing (118) through driving motor brackets (112). Two support bottom plates (101) corresponding to the driving motors (111) are also fixed on the inner wall of the support and heat dissipation housing (118). The support bottom plates (101) are also fixedly matched with the outer shells of the driving motors (111). A main shaft support plate (113) is fixed between the two support bottom plates (101). A main shaft (117) is rotatably installed on the main shaft support plate (113). Two coaxially arranged first gear discs (115) and second gear discs (116) are fixed on the main shaft (117).

3. A high-precision rotating shaft control method based on dual-motor synchronous drive according to claim 2, characterized in that: Two parallel guiding sliding columns (103) are fixed on each support bottom plate (101). An extrusion frame (105) is slidably matched 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 support bottom plate (101) and the extrusion frame (105).

4. A high-precision rotating shaft control method based on dual-motor synchronous drive according to claim 3, characterized in that: A bushing (106) is rotatably installed on the extrusion frame (105). A spline shaft (107) is axially slidably matched with the bushing (106) in a spline sliding manner. The spline shaft (107) is fixedly matched with the output shaft of the driving motor (111). Axial relative movement between the bushing (106) and the extrusion frame (105) is not allowed.

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

6. A high-precision rotating shaft control method based on dual-motor synchronous drive according to claim 5, characterized in that: There are tooth shapes that can be mutually engaged between the opposite faces of the driven engagement disk (109) and the driving engagement disk (108). Under the action of two compression springs (104), the driving engagement disk (108) is tightly engaged with the driven engagement disk (109), enabling synchronous transmission between the driving engagement disk (108) and the driven engagement disk (109), where there is magnetic force cooperation between the driving engagement disk (108) and the electromagnet (102).

7. A high-precision rotating shaft control method based on dual-motor synchronous drive according to claim 6, characterized in that: Two drive gears (110) are in meshing transmission with the corresponding first gear disk (115) and second gear disk (116).

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