Dual-motor rudder machine without virtual position and method for rudder machine without virtual position

Abstract

The application belongs to the technical field of steering gears, and discloses a double-motor virtual-position-free steering gear and a virtual-position-free steering gear method. The steering gear comprises a shell, the shell is rotationally provided with an output shaft, the inside of the shell is provided with two motors, namely motor one and motor two, motor one is drivingly connected to the output shaft through a first reduction gear set, motor two is drivingly connected to the output shaft through a second reduction gear set, the inside of the shell is provided with a control board, the control board is connected to a potentiometer, the potentiometer is connected to the bottom end of the output shaft, and the control board is connected to control motor one and motor two. The application has a reasonable structure, can effectively eliminate the virtual rotation position generated due to the increase of gear clearance, and the principle for eliminating the virtual position is simple and the implementation cost is low.

Description

Technical Field

[0001] This invention belongs to the field of servo motor technology, specifically relating to a dual-motor servo motor with zero backlash and a method for achieving zero backlash in the servo motor. Background Technology

[0002] After a certain period of use, traditional servo motors and servo reducers inevitably experience wear or fatigue damage, which increases the clearance between the gear meshing gears inside the reducer. This results in a certain amount of play during rotation control and a reduction in accuracy, leading to a series of problems in industrial control and robotics applications that require high precision.

[0003] Based on the current situation, a method is proposed that can effectively eliminate servo misalignment and achieve servo misalignment-free operation. Summary of the Invention

[0004] To overcome the above-mentioned technical problems, the present invention provides a dual-motor servo motor with zero backlash and a method for achieving zero backlash in the servo motor.

[0005] The present invention adopts the following technical solution:

[0006] A dual-motor servo motor with no play includes a housing. The housing has an output shaft rotatably mounted on it. Two motors, namely motor one and motor two, are installed inside the housing. Motor one is connected to the output shaft via a reduction gear set one, and motor two is connected to the output shaft via a reduction gear set two. A control board is installed inside the housing and connected to a potentiometer. The potentiometer is connected to the bottom end of the output shaft. The control board controls motor one and motor two.

[0007] Preferably, the output shaft is coaxially fixed with a large terminal gear, the end of the first reduction gear set has a small terminal gear, the end of the second reduction gear set has a small terminal gear, both the small terminal gear and the small terminal gear mesh with the large terminal gear, and the meshing contact direction of the small terminal gear and the small terminal gear is along the circumference of the large terminal gear but opposite in direction.

[0008] A method for eliminating servo motor misalignment includes the following:

[0009] The forward rotation of the output shaft is driven by motor one. At this time, motor one drives the output shaft to rotate forward through reduction gear set one. Motor two also drives reduction gear set two to run. However, the end pinion two does not play the role of driving the end large gear in the forward direction. When the teeth of the end pinion two mesh with the end large gear, the contact direction is opposite to the rotation direction. The end pinion two and the end pinion one cooperate to eliminate the play of the end large gear.

[0010] The reverse rotation of the output shaft is driven by motor two. At this time, motor two drives the output shaft to reverse through reduction gear set two. Motor one also drives reduction gear set one to run. However, the end pinion one does not reverse to drive the end large gear. When the teeth of the end pinion one mesh with the end large gear, the contact direction is opposite to the rotation direction. The end pinion one and the end pinion two cooperate to eliminate the play of the end large gear.

[0011] The rotation angles of motor one and motor two are adjusted by the dual-motor control system.

[0012] Compared with the prior art, the beneficial effects of the present invention are:

[0013] This invention includes two motors, Motor 1 and Motor 2, inside the housing. The two motors drive the output shaft to rotate via their respective reduction gear sets. The meshing and contact directions of the pinions at the end of the two reduction gear sets and the large gear at the end of the shaft are opposite. Forward rotation of the output shaft is driven by pinion 1, at which point pinion 2 cooperates with pinion 1 to eliminate the misalignment of the large gear. Reverse rotation of the output shaft is driven by pinion 2, at which point pinion 1 cooperates with pinion 2 to eliminate the misalignment of the large gear. This effectively eliminates rotational misalignment caused by increased gear clearance. Furthermore, the principle of this solution for eliminating misalignment is simple and the implementation cost is low. Attached Figure Description

[0014] Figure 1 This is a cross-sectional view of the servo motor of the present invention;

[0015] Figure 2 This is a schematic diagram of the terminal pinion 1, the terminal large gear, and the terminal pinion 2 (the terminal large gear rotates in the forward direction);

[0016] Figure 3 This is a schematic diagram of the terminal pinion 1, the terminal large gear, and the terminal pinion 2 (the terminal large gear rotates in the opposite direction).

[0017] Explanation of reference numerals in the attached figures:

[0018] 1 Housing; 2 Output shaft; 21 End-point large gear; 3 Reduction gear set one; 31 End-point small gear one; 4 Reduction gear set two; 41 End-point small gear two; 5 Motor one; 6 Control board; 7 Potentiometer; 8 Motor two. Detailed Implementation

[0019] The embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings. Throughout the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions. Unless otherwise specified, the raw materials and equipment used are commercially available or commonly used in the art. The methods in the embodiments, unless otherwise specified, are conventional methods in the art. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0020] like Figure 1 As shown, a dual-motor servo motor with no play includes a housing 1. An output shaft 2 is rotatably mounted on the housing 1. A large terminal gear 21 is coaxially fixed on the output shaft 2. Two motors, motor 5 and motor 8, are housed inside the housing 1. Motor 5 is connected to the output shaft 2 via a reduction gear set 3, and motor 8 is connected to the output shaft 2 via a reduction gear set 4. The end of the reduction gear set 3 has a small terminal gear 31, and the end of the reduction gear set 4 has a small terminal gear 41. Both small terminal gears 31 and 41 mesh with the large terminal gear 21. The meshing and contact directions of small terminal gears 31 and 41 with the large terminal gear 21 are along the circumference of the large terminal gear 21 but opposite to those directions. A control board 7 is housed inside the housing 1. The control board 7 is connected to a potentiometer 7, which is connected to the bottom end of the output shaft 2. The control board 7 controls the connection between motor 5 and motor 8.

[0021] A method for eliminating servo motor misalignment includes the following:

[0022] like Figure 2 As shown, the forward rotation of the output shaft 2 is driven by motor 5. At this time, motor 5 drives the output shaft 2 to rotate forward through reduction gear set 3. Motor 8 also drives reduction gear set 4 to run. However, the terminal pinion 41 does not play the role of driving the terminal gear 21 in the forward direction. When the teeth of the terminal pinion 41 mesh with the terminal gear 21, the contact direction is opposite to the rotation direction. The terminal pinion 41 and the terminal pinion 31 cooperate to eliminate the false position of the terminal gear 21.

[0023] like Figure 3 As shown, the reverse rotation of the output shaft 2 is driven by motor 2 8. At this time, motor 2 8 drives the output shaft 2 to reverse through reduction gear set 2 4. Motor 1 5 also drives reduction gear set 3 to run. However, the terminal pinion 31 does not reverse to drive the terminal gear 21. When the teeth of the terminal pinion 31 mesh with the terminal gear 21, the contact direction is opposite to the rotation direction. The terminal pinion 31 and the terminal pinion 41 cooperate to eliminate the false position of the terminal gear 21.

[0024] The rotation angles of motor 5 and motor 8 are adjusted by the dual-motor control system.

[0025] Among them, motor one and motor two are selected as high-precision brushless DC motors (BLDC) or servo motors to ensure that their performance parameters (such as torque, speed and response time) are matched, and the angle and speed of the two motors are monitored in real time through two sensors.

[0026] The dual-motor control system employs a synchronous control algorithm to control motor one and motor two, ensuring that the two motors work together to drive a single output shaft, achieving zero-play control. The synchronous control strategy includes master-slave control and differential control.

[0027] Master-slave control

[0028] In master-slave control, one motor (master motor) acts as the master controller, and the other motor (slave motor) acts as the follower controller. The slave motor's movements closely follow the master motor, and synchronization is achieved through feedback adjustment.

[0029] Main motor control:

[0030] Position loop control: The motor position is obtained through a position sensor (such as an encoder), and the PID controller is used to adjust the motor position so that it reaches the target position.

[0031] Speed ​​loop control: The motor speed is obtained through a speed sensor, and the PID controller is used to adjust the motor speed to stabilize it at the target speed.

[0032] Current loop control: The motor current is obtained through a current sensor, and the motor current is adjusted using a PID controller to ensure the stability of the motor output torque.

[0033] Controlled from the motor:

[0034] Synchronous following: Receives real-time feedback data (position, speed, current) from the main motor and uses the PID controller to adjust its own control parameters to follow the movement of the main motor.

[0035] Differential control

[0036] In differential control, two motors are controlled independently at the same time. Compensation is made by detecting the difference between the two in real time to ensure that they work together.

[0037] Independent controller: Design an independent controller for each motor to control their speed and position separately.

[0038] Real-time difference detection: The speed difference, position difference, and current difference between the two motors are monitored in real time through sensors.

[0039] Difference compensation: Based on the detected differences, the control parameters of the two motors are adjusted to achieve synchronous control.

[0040] The P-ID controller is a core component of the control system, adjusting the control signal to bring the motor to the desired state. Proportional control (P): Immediately adjusts the control signal based on the current error (the difference between the target value and the actual value). Proportional control can quickly respond to error changes. Integral control (I): Accumulates past errors and adjusts the control signal. Integral control can eliminate steady-state errors, ensuring the system eventually reaches the target value. Derivative control (D): Predicts future error changes and adjusts the control signal. Derivative control can reduce error fluctuations and improve system stability.

[0041] Adaptive control and compensation

[0042] Adaptive control is used to adjust control parameters in real time to adapt to different operating conditions and load changes.

[0043] Parameter estimation: Real-time estimation of system parameter changes, such as load changes, friction changes, etc.

[0044] Parameter tuning: Based on the estimated parameters, dynamically adjust the gain of the PID controller to maintain optimal system performance.

[0045] Adaptive algorithms: Common adaptive algorithms include adaptive PID control, adaptive fuzzy control, etc.

[0046] Real-time difference detection and compensation

[0047] Real-time difference detection and compensation are key to ensuring that the two motors work synchronously.

[0048] Real-time data acquisition: High-precision sensors (such as encoders and Hall sensors) are used to acquire the speed, position, and current data of the two motors in real time.

[0049] Difference Calculation: Real-time calculation of the speed difference, position difference, and current difference between the two motors.

[0050] Difference compensation: Based on the calculated difference, the control parameters of the motors are dynamically adjusted to keep the two motors synchronized and reduce the difference.

[0051] Implementation of the control system

[0052] Hardware

[0053] Microcontroller: Used to run control algorithms, process sensor data and output control signals.

[0054] Sensor interface: Used to connect high-precision sensors to collect motor data in real time.

[0055] Motor drive circuit: Used to control the drive signal of the motor and adjust the operation of the motor according to the output of the control system.

[0056] Software part

[0057] Control algorithm implementation: Implement control algorithms such as synchronous control, PID control, adaptive control, and differential compensation.

[0058] Real-time operating system (RTOS): Ensures the real-time performance and reliability of the control system, and manages task scheduling and prioritization.

[0059] Data processing and feedback: Process sensor data in real time, calculate control parameters, and perform feedback adjustments.

[0060] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to the above embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A dual-motor servo motor with no play-offs, comprising a housing, an output shaft rotatably mounted on the housing, and a motor disposed inside the housing, characterized in that, The housing contains two motors, namely motor one and motor two. Motor one is connected to the output shaft via a reduction gear set one, and motor two is connected to the output shaft via a reduction gear set two. The housing contains a control board, which is connected to a potentiometer. The potentiometer is connected to the bottom end of the output shaft, and the control board controls motor one and motor two.

2. The dual-motor servo motor with no misalignment according to claim 1, characterized in that, The output shaft is coaxially fixed with a large terminal gear. The end of the first reduction gear set has a small terminal gear, and the end of the second reduction gear set has a small terminal gear. Both the small terminal gear and the small terminal gear mesh with the large terminal gear. The meshing and contact directions of the small terminal gear and the small terminal gear are along the circumference of the large terminal gear but opposite to each other.

3. A method for eliminating play in a servo motor, characterized in that, The dual-motor servo motor with zero misalignment as described in claim 2 includes the following: The forward rotation of the output shaft is driven by motor one. At this time, motor one drives the output shaft to rotate forward through reduction gear set one. Motor two also drives reduction gear set two to run. However, the end pinion two does not play the role of driving the end large gear in the forward direction. When the teeth of the end pinion two mesh with the end large gear, the contact direction is opposite to the rotation direction. The end pinion two and the end pinion one cooperate to eliminate the play of the end large gear. The reverse rotation of the output shaft is driven by motor two. At this time, motor two drives the output shaft to reverse through reduction gear set two. Motor one also drives reduction gear set one to run. However, the terminal pinion one does not reverse to drive the terminal gear. When the teeth of the terminal pinion one mesh with the terminal gear, the contact direction is opposite to the rotation direction. The terminal pinion one and the terminal pinion two cooperate to eliminate the play of the terminal gear. Motor one and motor two are regulated by the control system.

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