Differential gear train control method and device, electronic equipment and medium

Abstract

The invention provides a differential gear train control method and device, electronic equipment and a medium, and the method comprises the following steps: responding to a start control instruction, and executing the following steps: configuring a sun gear driving motor and an outer gear driving motor to be in a speed control mode; the speed set value wsunset of the sun gear and the speed set value wextset of the outer gear are determined; the current actual position value alpha < sun > and the current number of rotation turns n < sun > of a sun wheel driving motor and the current actual position value alpha < ext > and the current number of rotation turns n < ext > of an outer wheel driving motor are obtained; and according to the current actual position value alpha sun of the sun wheel driving motor, the current number of rotation turns nsun of the sun wheel driving motor, the current actual position value alpha ext of the outer wheel driving motor and the current number of rotation turns next of the outer wheel driving motor, the current rotation angle alpha rev and the current revolution angle alpha rot of the planet wheel are obtained.

Description

Technical Field

[0001] The present application relates to the technical field of automatic control of differential gear trains, and in particular to a control method, device, electronic equipment and medium for a differential gear train. Background Art

[0002] The differential gear train consists of a coaxial sun gear and outer gear, and planetary gears positioned between them. The planetary gears mesh with the sun gear's outer ring gear and the outer gear's inner ring gear. The drive mechanism rotates the sun gear and outer gear, thereby driving the planetary gears to rotate and revolve. The rotation and revolution angles of the planetary gears play an important role in mechanical transmission, engineering applications, and other fields. However, the movement of the planetary gears is a passive motion determined by the input from the sun gear and outer gear. Therefore, determining the rotation and revolution angles of the planetary gears in real time is difficult in practical applications. Summary of the Invention

[0003] In view of this, the present application provides a control scheme for a differential gear train, which can determine the rotation angle and revolution angle of the planetary gear in real time by obtaining the current motion state of the sun gear and the outer gear without increasing any hardware cost.

[0004] According to a first aspect of an embodiment of the present application, a method for controlling a differential gear train is provided, comprising:

[0005] In response to the start control instruction, the following steps are performed:

[0006] Configure the sun gear drive motor and outer wheel drive motor to speed control mode;

[0007] Determine the sun gear speed reference value w sun_set and the outer wheel speed given value w ext_set ;

[0008] Get the current actual position value α of the sun gear drive motor sun , the current number of rotations of the sun gear drive motor n sun , the current actual position value α of the outer wheel drive motor ext and the current number of rotations n of the outer wheel drive motor ext ;

[0009] According to the current actual position value α of the sun gear drive motor sun , the current number of rotations n of the sun gear drive motor sun , the current actual position value α of the outer wheel drive motor ext and the current number of rotations n of the outer wheel drive motor ext , get the current rotation angle α of the planetary gear rev and the current revolution angle α rot.

[0010] Optionally, determine the sun gear speed reference value w sun_set and the outer wheel speed given value w ext_set The steps further include:

[0011] Get the planetary gear rotation angular velocity setting value w rev and the revolution angular velocity setting value w rot ;

[0012] According to the rotation angular velocity setting value w of the planetary gear rev and the revolution angular velocity setting value w rot , get the sun gear speed given value w sun_set and the outer wheel speed given value w ext_set .

[0013] Optionally, the current actual position value α of the sun gear driving motor is sum , the current number of rotations n of the sun gear driving motor sun , the current actual position value α of the outer wheel drive motor ext and the current number of rotations n of the outer wheel drive motor ext , get the current rotation angle α of the planetary gear rev and the current revolution angle α rot The steps further include:

[0014] According to the current actual position value α of the sun gear drive motor sun and the current number of rotations n of the sun gear drive motor sun , get the current cumulative angular displacement θ of the sun gear sun ;

[0015] According to the current actual position value α of the outer wheel drive motor ext and the current number of rotations n of the outer wheel drive motor ext , get the current cumulative angular displacement θ of the outer wheel ext ;

[0016] According to the current cumulative angular displacement θ of the sun gear sun and the current cumulative angular displacement θ of the outer wheel ext , get the current rotation angle α of the planetary gear rev and the current revolution angle α rot .

[0017] Optionally, the current cumulative angular displacement θ of the sun gear sun and the current cumulative angular displacement θ of the outer wheel ext , get the current rotation angle α of the planetary gear revand the current revolution angle α rot The steps further include:

[0018] According to the current cumulative angular displacement θ of the sun gear sun and the current cumulative angular displacement θ of the outer wheel ext , get the current cumulative angular displacement θ of the planetary gear rev and the current cumulative angular displacement θ rot ;

[0019] According to the current rotation cumulative angular displacement θ of the planetary gear rev , get the current rotation angle α of the planetary gear rev .

[0020] According to the current revolution cumulative angular displacement θ of the planetary gear rot , get the current orbital angle α of the planetary gear rot .

[0021] Optionally, according to the current actual position value α of the sun gear driving motor sun , the current number of rotations n of the sun gear driving motor sun , the current actual position value α of the outer wheel drive motor ext and the current number of rotations n of the outer wheel drive motor ext , get the current rotation angle α of the planetary gear rev and the current revolution angle α rot After the steps, it also includes:

[0022] In response to a preset condition being met, executing a second method, the second method comprising:

[0023] S201: Obtaining the preset rotation stop angle α of the planetary gear rev_stop and the preset revolution stop angle α rot_stop .

[0024] S203: According to the current rotation angle α of the planetary gear rev 、Current revolution angle α rot , preset rotation stop angle α rev_stop And the preset revolution stop angle α rot_stop , and the sun gear stop displacement Δθ is obtained sun and the stop displacement Δθ of the outer wheel ext ;

[0025] S205: Outputting a first control signal to the sun gear driver and the outer wheel driver respectively, wherein the first control signal includes a signal for instructing the motor to run to a target position in a position control mode, wherein the target position α of the sun gear sun_target is the stop displacement Δθ of the sun gearsun The actual position value of the sun gear drive motor α sun The sum of the outer wheel's target position α ext_target is the stopping displacement Δθ of the outer wheel ext The actual position value of the outer wheel drive motor α ext The harmony.

[0026] Optionally, the preset condition is that the current running time meets the target time; or,

[0027] The control method is used for a grinding machine, and the preset condition is that the current actual thickness of the object being ground meets the target thickness.

[0028] Optionally, according to the current rotation angle α of the planetary gear rev 、Current revolution angle α rot , preset rotation stop angle α rev_stop And the preset revolution stop angle α rot_stop , and the sun gear stop displacement Δθ is obtained sun and the stop displacement Δθ of the outer wheel ext The steps further include:

[0029] According to the current rotation angle α of the planetary gear rev 、Current revolution angle α rot , preset rotation stop angle α rev_stop And the preset revolution stop angle α rot_stop , and the planetary gear's revolution stop displacement Δθ is obtained rot and the planetary gear's rotation stop displacement Δθ rev ;

[0030] According to the planetary gear's revolution stop displacement Δθ rot and the planetary gear's rotation stop displacement Δθ rev , and the sun gear stop displacement Δθ is obtained sun and the stop displacement Δθ of the outer wheel ext .

[0031] In a second aspect, the present application provides a control device for a differential gear train, the control device comprising

[0032] a configuration module, configured to configure the sun gear drive motor and the outer wheel drive motor to a speed control mode in response to a start control instruction;

[0033] Determination module, which is used to determine the speed reference value w of the sun gear sun_set and the outer wheel speed given value w ext_set ;

[0034] Acquisition module, which is used to obtain the current actual position value α of the sun gear drive motor sun, the current number of rotations of the sun gear drive motor n sun , the current actual position value α of the outer wheel drive motor ext and the current number of rotations n of the outer wheel drive motor ext ;

[0035] The planetary gear angle module is used to drive the motor according to the current actual position value α of the sun gear. sun , the current number of rotations n of the sun gear drive motor sun , the current actual position value α of the outer wheel drive motor ext and the current number of rotations n of the outer wheel drive motor ext , get the current rotation angle α of the planetary gear rev and the current revolution angle α rot .

[0036] In a third aspect, the present application provides an electronic device, comprising: a processor, a communication interface, a memory, and a bus, wherein the processor, the communication interface, and the memory communicate with each other via the bus;

[0037] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform operations corresponding to any one of the methods described in the first aspect.

[0038] In a fourth aspect, the present application provides a computer-readable storage medium having computer instructions stored thereon. When the computer instructions are executed by a processor, the processor executes any one of the methods described in the first aspect.

[0039] It can be seen from the above technical solutions that the control solution of the differential gear system provided by various aspects of the present application can determine the current revolution angle and the current rotation angle of the planetary gear in real time by obtaining the current motion parameters of the sun gear and the outer gear in real time without increasing any hardware costs. The control method of the present application can track the revolution angle and the rotation angle of the planetary gear in real time regardless of the operating mode of the device. Specifically, after the sun gear drive motor and / or the outer gear drive motor move in manual mode and switch to automatic mode, the current rotation and revolution angle of the planetary gear can still be accurately tracked, without the need to re-calibrate the zero point of the planetary gear and manually adjust the angle of the planetary gear, thereby achieving seamless switching between automatic and manual modes. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 Flowchart of a first method according to an exemplary embodiment of the present application.

[0041] Figure 2 This is a flow chart of a second method according to an exemplary embodiment of the present application.

[0042] Figure 3 This is a schematic structural diagram of a differential gear train according to an exemplary embodiment of the present application.

[0043] Figure 4 This is a diagram of the motion relationship between the planetary gears, sun gear and outer gear.

[0044] Figure 5 This is a data flow diagram of a control method according to another exemplary embodiment of the present application.

[0045] Figure 6 It is a schematic diagram of a control device of a differential gear train according to an exemplary embodiment of the present application.

[0046] List of reference numerals:

[0047] 11: sun gear;

[0048] 12: outer wheel;

[0049] 13: planetary gear;

[0050] 14: Workpiece;

[0051] 20: Control device of differential gear train;

[0052] 21: Configuration module;

[0053] 22: Determine the module;

[0054] 23: Get module;

[0055] 24: Planetary gear angle module;

[0056] 91: sun gear rotation direction;

[0057] 92: outer wheel rotation direction;

[0058] 931: Rotation;

[0059] 932: Revolution;

[0060] w sun : sun gear speed;

[0061] w ext : outer wheel speed; DETAILED DESCRIPTION

[0062] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field should fall within the scope of protection of the embodiments of the present application.

[0063] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. The following embodiments and features thereof may be combined with each other unless they conflict with each other. The steps in the following method embodiments are for illustrative purposes only and are not intended to limit the present invention.

[0064] Figure 3 FIG. 1 is a schematic diagram showing the working principle of a differential gear train according to an exemplary embodiment. Figure 3 As shown, the differential gear train includes a coaxially arranged sun gear 11 and outer gear 12, and a planetary gear 13 disposed between the sun gear 11 and the outer gear 12. The planetary gear 13 meshes with the outer gear ring of the sun gear 11 and the inner gear ring of the outer gear 12. The drive device drives the sun gear 11 and the outer gear 12 to rotate, thereby driving the planetary gear 13 to rotate and revolve. The rotation angle and revolution angle of the planetary gear 13 play an important role in mechanical transmission, engineering applications and other fields. However, the movement of the planetary gear 13 is a passive motion determined by the input of the sun gear 11 and the outer gear 12. Therefore, it is difficult to determine the rotation angle and revolution angle of the planetary gear 13 in real time in practical applications.

[0065] In view of this, the present application provides a control scheme for a differential gear system, which can determine the current orbital angle and current rotation angle of the planetary gear in real time by acquiring the current motion parameters of the sun gear and the outer gear in real time without increasing any hardware costs.

[0066] The specific implementation of each embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0067] Control method of differential gear train

[0068] The control method of the differential gear train provided in this embodiment includes:

[0069] In response to the start control instruction, the following steps are performed:

[0070] S101: Configure the sun gear drive device and the outer wheel drive device to a speed control mode.

[0071] S103: Determine the speed setting value w of the sun gear sun_set and the outer wheel speed given value w ext_set .

[0072] In speed control mode, the sun gear drive is based on the sun gear speed reference value w sun_set Control the rotation of the sun gear, the outer gear drive device is based on the outer gear speed given value w ext_set Controls outer wheel rotation.

[0073] In some embodiments, step S103 further includes:

[0074] S1031: Obtain the planetary gear rotation angular velocity setting value w rev and the revolution angular velocity setting value w rot .

[0075] In some specific application scenarios or control requirements, it is necessary to set the planetary gear's rotational and orbital angular velocities based on the current process requirements. For example, in a grinding machine, by setting the planetary gear's rotational and orbital angular velocities, users can flexibly adjust grinding efficiency and quality to suit different materials and grinding stage requirements.

[0076] S1032: Set the value w according to the rotation angular velocity of the planetary gear rev and the revolution angular velocity setting value w rot , get the sun gear speed given value w sun_set and the outer wheel speed given value w ext_set .

[0077] In some embodiments, the sun gear speed reference value w can be obtained according to formula 1-1: sun_set , according to formula 1-2, the speed given value w of the outer wheel is obtained ext_set .

[0078] w sun_set =[w rev *(R+r)-w rot *(Rr)] / 2r 1-1

[0079] w ext_set =[w rev *(R+r)+w rot *(Rr)] / 2R 1-2

[0080] Among them, R is used to represent the pitch circle radius of the outer gear 12, and r is used to represent the pitch circle radius of the sun gear 11. Figure 4 shown.

[0081] S105: Get the current actual position value α of the sun gear drive motor sun , the current number of rotations of the sun gear drive motor n sun , the current actual position value α of the outer wheel drive motor ext and the current number of rotations n of the outer wheel drive motor ext.

[0082] The sun gear drive motor and the outer wheel drive motor are equipped with encoders, and the current actual position value of the sun gear drive motor and the current actual position value of the outer wheel drive motor can be obtained by obtaining the encoders.

[0083] It can be understood that the position value of the motor is the angular difference of the motor rotor relative to the preset zero point, so the position value of the motor is between 0° and 360°.

[0084] Motor revolutions refer to the number of complete rotations the motor output shaft completes during operation. The current number of motor revolutions can be obtained using a motor encoder or photoelectric sensor.

[0085] After replacing the planetary gears, or manually rotating the sun gear 11 or the outer gear 12 in a power outage, the current actual position values and current rotation numbers of the sun gear, outer gear, and planetary gears need to be reset to 0.

[0086] S107: According to the current actual position value α of the sun gear driving motor sun , the current number of rotations n of the sun gear drive motor sun , the current actual position value α of the outer wheel drive motor ext and the current number of rotations n of the outer wheel drive motor ext , get the current rotation angle α of the planetary gear rev and the current revolution angle α rot .

[0087] In some embodiments, step S107 further includes:

[0088] S1071: According to the current actual position value α of the sun gear driving motor sun and the current number of rotations n of the sun gear drive motor sun , get the current cumulative angular displacement θ of the sun gear sun , the current cumulative angular displacement of the sun gear θ sun =α sun +n sun *360.

[0089] S1073: According to the current actual position value α of the outer wheel drive motor ext and the current number of rotations n of the outer wheel drive motor ext , get the current cumulative angular displacement θ of the outer wheel ext ,θ ext =α ext +n ext *360.

[0090] S1075: Based on the current cumulative angular displacement θ of the sun gearsun and the current cumulative angular displacement θ of the outer wheel ext , get the current rotation angle α of the planetary gear rev and the current revolution angle α rot .

[0091] In some embodiments, step S1075 further includes:

[0092] S10751: Based on the current cumulative angular displacement θ of the sun gear sun and the current cumulative angular displacement θ of the outer wheel ext , get the current cumulative angular displacement θ of the planetary gear rev and the current cumulative angular displacement θ rot .

[0093] For example, the current rotation cumulative angular displacement θ of the planetary gear can be obtained according to formula 2-1: rev According to formula 2-2, the current cumulative angular displacement θ of the planetary gear is obtained rot .

[0094] θ rev =(θ ext *R+θ sun *r) / (R+r) 2-1

[0095] θ rot =(θ ext *R-θ sun *r) / (Rr) 2-2

[0096] Here, R is used to represent the pitch circle radius of the outer gear 12 , and r is used to represent the pitch circle radius of the sun gear 11 .

[0097] S10753: Based on the current rotation cumulative angular displacement θ of the planetary gear rev , get the current rotation angle α of the planetary gear rev .

[0098] In this embodiment, the angular displacement θ is accumulated by the current rotation of the planetary gear. rev The remainder of 360 is the current rotation angle α of the planetary gear. rev , that is, α rev =θ rev mod 360.

[0099] S10755: Based on the current revolution cumulative angular displacement θ of the planetary gear rot , get the current orbital angle α of the planetary gear rot .

[0100] In this embodiment, the angular displacement θ is accumulated by the revolution of the planetary gear. rotThe remainder of 360 is the current revolution angle α of the planetary gear. rot , that is, α rot =θ rot mod 360.

[0101] The control method of the differential gear system of the present application can determine the current revolution angle and current rotation angle of the planetary gear 13 in real time by acquiring the current motion parameters of the sun gear 11 and the outer gear 12 in real time without increasing any hardware costs. The control method of the present application can track the revolution angle and rotation angle of the planetary gear in real time regardless of the operating mode of the device. Specifically, after the sun gear 11 drive motor and / or the outer gear 12 drive motor move in manual mode and switch to automatic mode, the current rotation and revolution angles of the planetary gear 13 can still be accurately tracked, without the need to re-zero-point calibrate the planetary gear 13 and manually adjust the angle of the planetary gear, thereby achieving seamless switching between automatic and manual modes.

[0102] In some industrial equipment fields that use differential gear trains, it is necessary to accurately control the revolution and rotation angles of the planetary gears when they stop. Taking a grinder as an example, after the grinding process is completed, the planetary gears need to be accurately stopped at the preset revolution and rotation angles. If the revolution angle deviates, the position of the workpiece on the grinder workbench will be offset, and the manipulator may not be able to accurately reach the grasping point; if the rotation angle deviates, the workpiece posture does not meet the standard, and the manipulator will find it difficult to grasp the workpiece, resulting in grasping failure or unstable grasping. To solve this problem, the control method of the differential gear train of the present application also includes the following steps:

[0103] In response to a preset condition being met, executing a second method, the second method comprising:

[0104] S201: Obtaining the preset rotation stop angle α of the planetary gear rev_stop and the preset revolution stop angle α rot_stop .

[0105] S203: According to the current rotation angle α of the planetary gear rev 、Current revolution angle α rot , preset rotation stop angle α rev_stop And the preset revolution stop angle α rot_stop , and the sun gear stop displacement Δθ is obtained sun and the stop displacement Δθ of the outer wheel ext .

[0106] In some embodiments, step S203 further includes:

[0107] S2031: According to the current rotation angle α of the planetary gear rev 、Current revolution angle α rot , preset rotation stop angle αrev_stop And the preset revolution stop angle α rot_stop , and the planetary gear's revolution stop displacement Δθ is obtained rot and the planetary gear's rotation stop displacement Δθ rev .

[0108] The planetary gear's rotation stop displacement Δθ rev =α rev_stop -α rev , the planetary gear's revolution stop displacement Δθ rot =α rot_stop -α rot .

[0109] S2032: Stop displacement Δθ according to the revolution of the planetary gear rot and the planetary gear's rotation stop displacement Δθ rev , and the sun gear stop displacement Δθ is obtained sun and the stop displacement Δθ of the outer wheel ext .

[0110] In some embodiments, the stop displacement Δθ of the sun gear is obtained according to Formula 3-1: sun , according to formula 3-2, the stopping displacement Δθ of the outer wheel is obtained ext .

[0111] Δθ sun =[Δθ rev *(R+r)-Δθ rot *(Rr)] / 2r 3-1

[0112] Δθ ext =[Δθ rev *(R+r)+Δθ rot *(Rr)] / 2R 3-2

[0113] Here, R is used to represent the pitch circle radius of the outer gear 12 , and r is used to represent the pitch circle radius of the sun gear 11 .

[0114] S205: Outputting a first control signal to the sun gear driver and the outer wheel driver respectively, wherein the first control signal includes a signal for instructing the motor to run to a target position in a position control mode, wherein the target position α of the sun gear sun_target is the stop displacement Δθ of the sun gear sun The actual position value of the sun gear drive motor α sun The sum of the outer wheel's target position α ext_target is the stopping displacement Δθ of the outer wheel ext And the current actual position value α of the outer wheel drive motor ext The harmony.

[0115] When the preset processing conditions are met, the driving device of the sun gear 11 and the outer gear 12 is switched from the speed control mode to the position control mode. In the position control mode, the sun gear and the outer gear stop at the target position, thereby causing the planetary gear to stop at the preset rotation stop angle α. rev_stop and the preset revolution stop angle α rot_stop , realizing the precise positioning control of the rotation and revolution angles of the planetary gear.

[0116] The control method of this embodiment can achieve precise control of the rotation and revolution angles of the planetary gear when it stops, regardless of the initial revolution and rotation angles of the planetary gear at startup. There is no need to re-calibrate the zero point of the planetary gear and manually adjust the angle of the planetary gear, thereby greatly improving production efficiency.

[0117] In some embodiments, the preset condition is that the differential gear train operates for a preset time.

[0118] For a grinding machine, in some embodiments, the preset condition is that the thickness of the workpiece meets a preset thickness.

[0119] Traditional grinders lack a thickness processing mode and cannot perform quantitative grinding based on thickness. In this embodiment, a sensor acquires the current thickness of the workpiece being ground in real time. When the workpiece's current thickness meets a preset thickness, a control command is output. Based on this control command, the grinder's grinding disc moves from the grinding position to the waiting position. Based on this control command, the grinder executes the second method, thereby precisely controlling the grinding thickness of the workpiece being ground and the rotation and revolution angles of the planetary gear when it stops, ensuring that the workpiece's position and posture meet the material removal requirements of the unloading robot.

[0120] In some embodiments, before step S205, the method further includes step S204:

[0121] Compare the sun gear's stopping displacement Δθ sun Minimum deceleration displacement Δθ with the sun gear sun_min , compare the stopping displacement Δθ of the outer wheel ext Minimum deceleration displacement Δθ with the outer wheel ext_min .

[0122] Step S205 is further implemented as follows:

[0123] At the stop displacement Δθ of the sun gear sun Greater than the minimum deceleration displacement Δθ of the sun gear sun_min And the stopping displacement of the outer wheel Δθ ext Greater than the minimum deceleration displacement Δθ of the outer wheel ext_min In the case of , the first control signal is output to the sun gear driver and the outer wheel driver respectively.

[0124] In some embodiments, the load has a limit on the deceleration displacement: if the deceleration displacement is insufficient, the deceleration will be too high, thus damaging the load. Taking a grinding machine as an example, when the grinding object is a fragile workpiece such as glass, a small deceleration displacement will cause excessive vibration during positioning control, thus damaging the workpiece. To solve this problem, in this embodiment, only the sun gear stops at the displacement Δθ sun Greater than the minimum deceleration displacement Δθ of the sun gear sun_min And the stopping displacement of the outer wheel Δθ ext Greater than the minimum deceleration displacement Δθ of the outer wheel ext_min The position control mode is switched to when the sun gear and outer gear have sufficient deceleration displacement. This embodiment prevents excessive vibration during positioning control from damaging workpieces such as electronic glass by limiting the maximum angular acceleration of the sun gear and outer gear during deceleration.

[0125] In some implementations, the user may input or select the corresponding minimum deceleration displacement of the sun gear and the minimum deceleration displacement of the outer gear according to the load characteristics.

[0126] In other embodiments, the user may input or select the corresponding maximum angular acceleration according to the load characteristics, and calculate the minimum deceleration displacement of the sun gear and the minimum deceleration displacement of the outer gear based on the maximum angular acceleration.

[0127] Figure 5 The data flow diagram of an exemplary control method based on the present application is shown as an example. Figure 5 As shown, the data processing logic of this embodiment is:

[0128] 801: Set the planetary gear rotation angular velocity setting value w rev ;

[0129] 802: Set the planetary gear's angular velocity setting value w rot ;

[0130] 803: Calculate the sun gear speed reference value w sun_set and the outer wheel speed given value w ext_set ;

[0131] 804: Calculate the current cumulative angular displacement θ of the sun gear sun and the current cumulative angular displacement θ of the outer wheel ext ;

[0132] 805: Calculate the current cumulative angular displacement θ of the planetary gear rev and the current cumulative angular displacement θ rot ;

[0133] 806: Calculate the current rotation angle α of the planetary gear rev and the current revolution angle αrot ;

[0134] 807: Are the preset processing conditions met?

[0135] 808: Calculate the minimum deceleration displacement Δθ of the sun gear sun_min , the minimum deceleration displacement of the outer wheel Δθ ext_min ;

[0136] 809: Set the planetary gear preset rotation stop angle α rev_stop And the planetary gear preset revolution stop angle α rot_stop ;

[0137] 810: Calculate the planetary gear's orbital stop displacement Δθ rot and the planetary gear's rotation stop displacement Δθ rev .

[0138] 811: Calculate the stop displacement Δθ of the sun gear sun and the stop displacement Δθ of the outer wheel ext ;

[0139] 812: Sun gear stop displacement Δθ sun Greater than the minimum deceleration displacement Δθ of the sun gear sun_min And the stopping displacement of the outer wheel Δθ ext Greater than the minimum deceleration displacement Δθ of the outer wheel ext_min ?

[0140] 813: Output a first control signal;

[0141] 814: Completed.

[0142] Differential gear control device

[0143] The control device 20 of the differential gear system provided in this embodiment includes a configuration module 21, a determination module 22, an acquisition module 23, an acquisition module 23 and a planetary gear angle module 24. Among them, the configuration module 21 responds to the start control instruction to configure the sun gear drive motor and the outer wheel drive motor to the speed control mode; the determination module 22 is used to determine the speed set value w of the sun gear. sun_set and the outer wheel speed given value w ext_set The acquisition module 23 is used to obtain the current actual position value α of the sun gear drive motor. sun , the current number of rotations of the sun gear drive motor n sun , the current actual position value α of the outer wheel drive motor ext and the current number of rotations n of the outer wheel drive motor ext Planetary gear angle module 24 according to the current actual position value of the sun gear drive motor α sun , the current number of rotations n of the sun gear drive motorsun , the current actual position value α of the outer wheel drive motor ext and the current number of rotations n of the outer wheel drive motor ext , get the current rotation angle α of the planetary gear rev and the current revolution angle α rot .

[0144] In some embodiments, the control device further includes a second acquisition module, a stop displacement module, and a position control module. The second acquisition module obtains the preset rotation stop angle α of the planetary gear in response to the preset condition being met. rev_stop and the preset revolution stop angle α rot_stop ; Stop the displacement module according to the current rotation angle α of the planetary gear rev 、Current revolution angle α rot , preset rotation stop angle α rev_stop And the preset revolution stop angle α rot_stop , and the sun gear stop displacement Δθ is obtained sun and the stop displacement Δθ of the outer wheel ext Position control module outputs a first control signal to the sun gear driver and the outer wheel driver respectively, wherein the first control signal includes a signal for instructing the motor to operate to the target position in position control mode, wherein the target position of the sun gear is α sun_target is the stop displacement Δθ of the sun gear sun The actual position value of the sun gear drive motor α sun The sum of the outer wheel's target position α ext_target is the stopping displacement Δθ of the outer wheel ext And the current actual position value α of the outer wheel drive motor ext The harmony.

[0145] In some embodiments, the control device further includes a comparison module for comparing

[0146] Compare the sun gear's stopping displacement Δθ sun Minimum deceleration displacement Δθ with the sun gear sun_min , compare the stopping displacement Δθ of the outer wheel ext Minimum deceleration displacement Δθ with the outer wheel ext_min , and output the comparison result. When the position control module receives the stop displacement Δθ representing the sun gear sun Greater than the minimum deceleration displacement Δθ of the sun gear sun_min And the stopping displacement of the outer wheel Δθ ext Greater than the minimum deceleration displacement Δθ of the outer wheel ext_min When the comparison signal is received, the position control module outputs a first control signal to the sun gear driver and the outer gear driver respectively.

[0147] It should be noted that the information interaction, execution process, etc. between the modules within the above-mentioned differential gear system control device are based on the same concept as the above-mentioned differential gear system control method embodiment. The specific contents can be found in the description of the above-mentioned differential gear system control method embodiment and will not be repeated here.

[0148] electronic devices

[0149] The specific embodiments of the present application do not limit the specific implementation of the electronic device. The electronic device provided in the embodiments of the present application includes: a processor, a communications interface, a memory, and a bus. Among them:

[0150] The processor, communication interface, and memory communicate with each other through the bus.

[0151] Communication interface, used to communicate with other electronic devices or servers.

[0152] The processor is used to execute the program, and specifically can execute the relevant steps in the above-mentioned embodiment of the control method of the differential gear system.

[0153] Specifically, the program may include program codes including computer operation instructions.

[0154] The processor may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs, or may be processors of different types, such as one or more CPUs and one or more ASICs.

[0155] The memory is used to store programs. The memory may include high-speed RAM memory and may also include non-volatile memory (non-volatile memory), such as at least one disk storage.

[0156] The program can be specifically used to enable a processor to execute the control method of the differential gear train in any of the aforementioned embodiments.

[0157] The specific implementation of each step in the program can be found in the corresponding descriptions of the corresponding steps and units in the above-mentioned differential gear train control method embodiment, and will not be repeated here. Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding process descriptions in the above-mentioned method embodiment, and will not be repeated here.

[0158] Computer-readable storage medium

[0159] This application also provides a computer-readable storage medium storing instructions for causing a machine to execute the differential gear train control method described herein. Specifically, a system or device equipped with a storage medium can be provided, wherein the storage medium stores software program code that implements the functions of any of the above-described embodiments, and a computer (or CPU or MPU) of the system or device can read and execute the program code stored in the storage medium.

[0160] In this case, the program code read from the storage medium itself can realize the function of any one of the above embodiments, so the program code and the storage medium storing the program code constitute part of this application.

[0161] Examples of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, the program code can be downloaded from a server computer via a communication network.

[0162] Computer program product

[0163] An embodiment of the present application also provides a computer program product, including computer instructions, which instruct a computing device to perform any corresponding operation in the above-mentioned multiple method embodiments.

[0164] It should be pointed out that, according to the needs of implementation, the various components / steps described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or partial operations of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present application.

[0165] The above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or can be implemented as software or computer code that can be stored in a recording medium (such as CD ROM, RAM, floppy disk, hard disk or magneto-optical disk), or can be implemented as computer code that is originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded via a network and will be stored in a local recording medium, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a special-purpose processor or programmable or special-purpose hardware (such as ASIC or FPGA). It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by a computer, a processor or hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method shown here, the execution of the code converts the general-purpose computer into a special-purpose computer for executing the method shown here.

[0166] It should be noted that not all steps and modules in the above processes and system structure diagrams are required, and certain steps or modules can be omitted according to actual needs. The execution order of each step is not fixed and can be adjusted as needed. The system structure described in the above embodiments can be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or may be implemented by certain components in multiple independent devices.

[0167] Nouns and pronouns referring to persons in this patent application are not limited to a specific gender.

[0168] In the above embodiments, the hardware module can be implemented mechanically or electrically. For example, a hardware module can include a permanent dedicated circuit or logic (such as a dedicated processor, FPGA or ASIC) to complete the corresponding operation. The hardware module can also include programmable logic or circuits (such as a general-purpose processor or other programmable processors), which can be temporarily set by software to complete the corresponding operation. The specific implementation method (mechanical method, or dedicated permanent circuit, or temporarily set circuit) can be determined based on cost and time considerations.

[0169] The present invention has been shown and described in detail above through the accompanying drawings and preferred embodiments. However, the present invention is not limited to these disclosed embodiments. Based on the above multiple embodiments, those skilled in the art can know that the code review methods in the above different embodiments can be combined to obtain more embodiments of the present invention, and these embodiments are also within the scope of protection of the present invention.

Claims

1. A method for controlling a differential gear train, characterized in that: The following steps are involved: In response to the start control instruction, the following steps are performed: Configure the sun gear drive motor and outer wheel drive motor to speed control mode; Determine the sun gear speed reference value w sun_set and the outer wheel speed given value w ext_set ; Get the current actual position value α of the sun gear drive motor sun , the current number of rotations of the sun gear drive motor n sun , the current actual position value α of the outer wheel drive motor ext and the current number of rotations n of the outer wheel drive motor ext ; According to the current actual position value α of the sun gear drive motor sun , the current number of rotations n of the sun gear drive motor sun , the current actual position value α of the outer wheel drive motor ext and the current number of rotations n of the outer wheel drive motor ext , get the current rotation angle α of the planetary gear rev and the current revolution angle α rot .

2. The method for controlling a differential gear train according to claim 1, wherein: Determine the sun gear speed reference value w sun_set and the outer wheel speed given value w ext_set The steps further include: Get the planetary gear rotation angular velocity setting value w rev and the revolution angular velocity setting value w rot ; According to the rotation angular velocity setting value w of the planetary gear rev and the revolution angular velocity setting value w rot , get the sun gear speed given value w sun_set and the outer wheel speed given value w ext_set .

3. The control method of the differential gear train according to claim 1, wherein: The current actual position value α of the sun gear driving motor sun , the current number of rotations n of the sun gear driving motor sun , the current actual position value α of the outer wheel drive motor ext and the current number of rotations n of the outer wheel drive motor ext , get the current rotation angle α of the planetary gear rev and the current revolution angle α rot The steps further include: According to the current actual position value α of the sun gear drive motor sun and the current number of rotations n of the sun gear drive motor sun , get the current cumulative angular displacement θ of the sun gear sun ; According to the current actual position value α of the outer wheel drive motor ext and the current number of rotations n of the outer wheel drive motor ext , get the current cumulative angular displacement θ of the outer wheel ext ; According to the current cumulative angular displacement θ of the sun gear sun and the current cumulative angular displacement θ of the outer wheel ext , get the current rotation angle α of the planetary gear rev and the current revolution angle α rot .

4. The control method of the differential gear train according to claim 3, wherein: The current cumulative angular displacement θ of the sun gear sun and the current cumulative angular displacement θ of the outer wheel ext , get the current rotation angle α of the planetary gear rev and the current revolution angle α rot The steps further include: According to the current cumulative angular displacement θ of the sun gear sun and the current cumulative angular displacement θ of the outer wheel ext , get the current cumulative angular displacement θ of the planetary gear rev and the current cumulative angular displacement θ rot ; According to the current rotation cumulative angular displacement θ of the planetary gear rev , get the current rotation angle α of the planetary gear rev ; According to the current revolution cumulative angular displacement θ of the planetary gear rot , get the current orbital angle α of the planetary gear rot .

5. The method for controlling a differential gear train according to any one of claims 1 to 4, wherein: According to the current actual position value α of the sun gear drive motor sun , the current number of rotations n of the sun gear driving motor sun , the current actual position value α of the outer wheel drive motor ext and the current number of rotations n of the outer wheel drive motor ext , get the current rotation angle α of the planetary gear rev and the current revolution angle α rot After the steps, it also includes: In response to a preset condition being met, executing a second method, the second method comprising: S201: Obtaining the preset rotation stop angle α of the planetary gear rev_stop and the preset revolution stop angle α rot_stop ; S203: According to the current rotation angle α of the planetary gear rev 、Current revolution angle α rot , preset rotation stop angle α rev_stop And the preset revolution stop angle α rot_stop , and the sun gear stop displacement Δθ is obtained sun and the stop displacement Δθ of the outer wheel ext ; S205: Outputting a first control signal to the sun gear driver and the outer wheel driver respectively, wherein the first control signal includes a signal for instructing the motor to run to a target position in a position control mode, wherein the target position α of the sun gear sun_target is the stop displacement Δθ of the sun gear sun The actual position value of the sun gear drive motor α sun The sum of the outer wheel's target position α ext_target is the stopping displacement Δθ of the outer wheel ext The actual position value of the outer wheel drive motor α ext The harmony.

6. The method for controlling a differential gear train according to claim 5, wherein: The preset condition that the current running time meets the target time; or, The control method is used for a grinding machine, and the preset condition is that the current actual thickness of the object being ground meets the target thickness.

7. The method for controlling a differential gear train according to claim 5, wherein: According to the current rotation angle Δ of the planetary gear rev 、Current revolution angle α rot , preset rotation stop angle Δ rev_stop And the preset revolution stop angle α rot_stop , and the sun gear stop displacement Δθ is obtained sun and the stop displacement Δθ of the outer wheel ext The steps further include: According to the current rotation angle α of the planetary gear rev 、Current revolution angle α rot , preset rotation stop angle Δ rev_stop And the preset revolution stop angle α rot_stop , and the planetary gear's revolution stop displacement Δθ is obtained rot and the planetary gear's rotation stop displacement Δθ rev ; According to the planetary gear's revolution stop displacement Δθ rot and the planetary gear's rotation stop displacement Δθ rev , and the sun gear stop displacement Δθ is obtained sun and the stop displacement Δθ of the outer wheel ext .

8. A control device (20) for a differential gear train, characterized in that: include: a configuration module (21), configured to configure the sun gear drive motor and the outer wheel drive motor to a speed control mode in response to a start control instruction; Determination module (22), which is used to determine the speed given value w of the sun gear sun_set and the outer wheel speed given value w ext_set ; Acquisition module (23), which is used to obtain the current actual position value α of the sun gear drive motor sun , the current number of rotations of the sun gear drive motor n sun , the current actual position value α of the outer wheel drive motor ext and the current number of rotations n of the outer wheel drive motor ext ; A planetary gear angle module (24) is used to drive the motor according to the current actual position value α of the sun gear. sun , the current number of rotations n of the sun gear drive motor sun , the current actual position value α of the outer wheel drive motor ext and the current number of rotations n of the outer wheel drive motor ext , get the current rotation angle α of the planetary gear rev and the current revolution angle α rot .

9. An electronic device comprising: A processor, a communication interface, a memory, and a bus, wherein the processor, the communication interface, and the memory communicate with each other via the bus; The memory is used to store at least one executable instruction, where the executable instruction enables the processor to perform an operation corresponding to the method according to any one of claims 1 to 7. 10 . A computer-readable storage medium having computer instructions stored thereon, wherein when the computer instructions are executed by a processor, the processor is caused to perform the method according to claim 1 .

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