Dual-motor non-clearance steering engine

Abstract

The utility model belongs to the technical field of steering engines, and discloses a double-motor non-clearance steering engine which comprises a shell, an output shaft is rotatably arranged on the shell, two motors are arranged in the shell and are the first motor and the second motor respectively, the first motor is in transmission connection with the output shaft through a first reduction gear set, and the second motor is in transmission connection with the output shaft through a second reduction gear set. A control panel is arranged in the shell and connected with a potentiometer, the potentiometer is connected to the bottom end of the output shaft, and the control panel controls and is connected with the first motor and the second motor. According to the utility model, the structure is reasonable, the rotation clearance generated by the increase of the gear clearance can be effectively eliminated, the principle of eliminating the clearance is simple, and the implementation cost is lower.

Description

Technical Field

[0001] The utility model belongs to the technical field of steering gears, and in particular relates to a dual-motor non-vacant position steering gear. Background Art

[0002] After a certain period of use, traditional servos and servo reducers will inevitably suffer from wear or fatigue damage, which will increase the meshing clearance of the gears inside the reducer, resulting in a certain amount of virtual position and reduced accuracy during rotation control, which will cause a series of problems in industrial control and robots that require high precision.

[0003] Based on the current situation, a servo that can effectively eliminate virtual position is proposed. Utility Model Content

[0004] In order to overcome the above technical problems, the utility model provides a dual-motor non-vacant position servo.

[0005] The utility model adopts the following technical solutions:

[0006] A dual-motor zero-deadlock servo comprises a shell, the shell is rotatably provided with an output shaft, a motor is arranged inside the shell, two motors are arranged inside the shell, namely motor one and motor two, the motor one is connected to the output shaft through a reduction gear set one, the motor two is connected to the output shaft through a reduction gear set two, a control board is arranged inside the shell, the control board is connected to a potentiometer, the potentiometer is connected to the bottom end of the output shaft, and the control board controls the connection between motor one and motor two.

[0007] Preferably, the output shaft is coaxially fixed with a terminal large gear, the end of the reduction gear group one has a terminal pinion one, and the end of the reduction gear group two has a terminal pinion two, the terminal pinion one and the terminal pinion two are both meshed with the terminal large gear, and the meshing and abutting direction of the terminal pinion one and the terminal pinion two with the terminal large gear is along the circumference of the terminal large gear but in opposite directions.

[0008] Preferably, the motor one and the motor two are connected to respective angle encoders, and the controller is connected to the angle encoder and the control board.

[0009] Compared with the prior art, the beneficial effects of the utility model are:

[0010] The utility model arranges motor 1 and motor 2 inside a shell, and the two motors drive the output shaft to rotate through their respective reduction gear sets, and the meshing and abutting directions of the terminal small gears of the two reduction gear sets and the terminal large gear carried by the rotating shaft are opposite, and the positive rotation of the output shaft is driven by the terminal small gear 1, and at this time, the terminal small gear 2 cooperates with the terminal small gear 1 to eliminate the virtual position of the terminal large gear, and the reverse rotation of the output shaft is driven by the terminal small gear 2, and at this time, the terminal small gear 1 cooperates with the terminal small gear 2 to eliminate the virtual position of the terminal large gear, thereby effectively eliminating the rotation virtual position caused by the increase of the gear clearance, and the principle of eliminating the virtual position of the scheme is simple and the implementation cost is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a cross-sectional view of the steering gear of the utility model;

[0012] 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);

[0013] 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).

[0014] Description of reference numerals:

[0015] 1 housing; 2 output shaft; 21 final large gear; 3 reduction gear set 1; 31 final small gear 1; 4 reduction gear set 2; 41 final small gear 2; 5 motor 1; 6 control board; 7 potentiometer; 8 motor 2. DETAILED DESCRIPTION

[0016] The embodiments of the utility model are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. Unless otherwise specified, the raw materials and equipment used can be purchased from the market or are commonly used in the art. The methods in the embodiments are conventional methods in the art unless otherwise specified. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the utility model, and cannot be understood as limiting the utility model.

[0017] like Figure 1As shown, a dual-motor non-empty position servo comprises a housing 1, wherein the housing 1 is rotatably provided with an output shaft 2, wherein the output shaft 2 is coaxially fixedly provided with a terminal gear 21, wherein two motors are arranged inside the housing 1, namely, motor 1 5 and motor 2 8, wherein the motor 1 5 is connected to the output shaft 2 via a reduction gear set 1 3, wherein the motor 2 8 is connected to the output shaft 2 via a reduction gear set 2 4, wherein the end of the reduction gear set 1 3 is provided with a terminal pinion 1 31, wherein the end of the reduction gear set 2 4 is provided with a terminal pinion 2 41, wherein the terminal pinion 1 31 and the terminal pinion 2 41 are both meshed with the terminal gear 21, wherein the meshing and abutting directions of the terminal pinion 1 31 and the terminal pinion 2 41 with the terminal gear 21 are along the circumferential direction of the terminal gear 21 but in opposite directions, wherein a control board 7 is arranged inside the housing 1, wherein the control board 7 is connected with a potentiometer 7, wherein the potentiometer 7 is connected to the bottom end of the output shaft 2, wherein the control board 7 controls the connection between the motor 1 5 and the motor 2 8, wherein the motor 1 5 and the motor 2 8 are connected with respective angle encoders, and wherein a controller is connected with the angle encoder and the control board 6.

[0018] A dual-motor non-empty position servo, when working:

[0019] The rotation angles of motor 1 5 and motor 2 8 are controlled by a controller, such as Figure 2 As shown, the positive rotation of the output shaft 2 is driven by the motor 1 5. At this time, the motor 1 5 drives the output shaft 2 to rotate forward through the reduction gear set 1 3, and the motor 2 8 also drives the reduction gear set 2 4 to operate, but the terminal pinion 2 41 does not play a role in driving the terminal large gear 21 in the positive direction. When the teeth of the terminal pinion 2 41 mesh with the terminal large gear 21, the abutment direction is opposite to the rotation direction. The terminal pinion 2 41 cooperates with the terminal pinion 1 31 to eliminate the virtual position of the terminal large gear 21; Figure 3 As shown, the reverse rotation of the output shaft 2 is driven by the motor 2 8. At this time, the motor 2 8 drives the output shaft 2 to reverse through the reduction gear set 2 4, and the motor 1 5 also drives the reduction gear set 1 3 to operate, but the terminal pinion 1 31 does not play the role of driving the terminal gear 21 in the reverse direction. When the teeth of the terminal pinion 1 31 mesh with the terminal gear 21, the abutment direction is opposite to the rotation direction. The terminal pinion 1 31 cooperates with the terminal pinion 2 41 to eliminate the virtual position of the terminal gear 21.

[0020] For dual motor control systems

[0021] First, high-precision brushless DC motors (BLDC) or servo motors are selected for motor 1 and motor 2 to ensure that their performance parameters (such as torque, speed, and response time) match, and the angles and speeds of the two motors are monitored in real time through two angle encoders.

[0022] The dual-motor control system uses a synchronous control algorithm to control motor one and motor two, ensuring that the two motors work together to drive the only output shaft and achieve zero-dummy control. Synchronous control strategies include master-slave control and differential control.

[0023] Master-slave control

[0024] 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 follows the master motor closely and achieves synchronization through feedback regulation.

[0025] Main motor control:

[0026] 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 to reach the target position.

[0027] Speed ​​loop control: The motor speed is obtained through the speed sensor, and the PID controller is used to adjust the motor speed to stabilize it at the target speed.

[0028] Current loop control: The motor current is obtained through the current sensor, and the PID controller is used to adjust the motor current to ensure the stability of the motor output torque.

[0029] From the motor control:

[0030] Synchronous following: The slave motor receives the feedback data (position, speed, current) of the master motor in real time, and uses the PID controller to adjust its own control parameters so that it follows the movement of the master motor.

[0031] Differential control

[0032] In differential control, the two motors are controlled independently and simultaneously, and the difference between them is detected in real time and compensated to ensure that they work together.

[0033] Independent controller: Design independent controllers for each motor to control their speed and position separately.

[0034] Real-time difference detection: The speed difference, position difference and current difference of the two motors are monitored in real time through sensors.

[0035] Difference compensation: According to the detected difference, the control parameters of the two motors are adjusted to achieve synchronous control.

[0036] The PID controller is the core component of the control system. It adjusts the control signal to make the motor reach the desired state. Proportional control (P): According to the current error (the difference between the target value and the actual value), the control signal is adjusted immediately. Proportional control can respond quickly to error changes. Integral control (I): Accumulate past errors and adjust the control signal. Integral control can eliminate steady-state errors and ensure that the system eventually reaches the target value. Derivative control (D): Predict future error changes and adjust the control signal. Derivative control can reduce error fluctuations and improve system stability.

[0037] Adaptive control and compensation

[0038] Adaptive control is used to adjust control parameters in real time to adapt to different working conditions and load changes.

[0039] Parameter estimation: Real-time estimation of system parameter changes, such as load changes, friction changes, etc.

[0040] Parameter adjustment: Based on the estimated parameters, the gain of the PID controller is dynamically adjusted to keep the system at optimal performance.

[0041] Adaptive algorithm: Common adaptive algorithms include adaptive PID control, adaptive fuzzy control, etc.

[0042] Real-time difference detection and compensation

[0043] Real-time difference detection and compensation are key to ensure the two motors work in sync.

[0044] Real-time data acquisition: Use high-precision sensors (such as encoders and Hall sensors) to collect speed, position and current data of the two motors in real time.

[0045] Difference Calculation: Calculate the speed difference, position difference, and current difference between the two motors in real time.

[0046] 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.

[0047] Control system implementation

[0048] Hardware

[0049] Microcontroller: Used to run control algorithms, process sensor data and output control signals.

[0050] Sensor interface: used to connect high-precision sensors to collect motor data in real time.

[0051] 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.

[0052] Software

[0053] Control algorithm implementation: Implement control algorithms such as synchronization control, PID control, adaptive control and difference compensation.

[0054] Real-time operating system (RTOS): ensures the real-time and reliability of the control system and manages task scheduling and priority.

[0055] Data processing and feedback: Process sensor data in real time, calculate control parameters, and perform feedback adjustments.

[0056] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the above embodiments without departing from the principles and purpose of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A dual-motor non-empty position steering gear, comprising a housing, the housing being rotatably provided with an output shaft, a motor being arranged inside the housing, characterized in that: Two motors are arranged inside the shell, namely motor one and motor two. Motor one is connected to the output shaft through reduction gear set one, and motor two is connected to the output shaft through reduction gear set two. A control board is arranged inside the shell, and the control board is connected to a potentiometer. The potentiometer is connected to the bottom end of the output shaft, and the control board controls the connection between motor one and motor two.

2. A dual-motor non-vacant position servo according to claim 1, characterized in that: The output shaft is coaxially fixed with a terminal large gear, the end of the reduction gear set one has a terminal pinion one, and the end of the reduction gear set two has a terminal pinion two, the terminal pinion one and the terminal pinion two are both meshed with the terminal large gear, and the meshing and abutting directions of the terminal pinion one and the terminal pinion two with the terminal large gear are along the circumferential direction of the terminal large gear but in opposite directions.

3. A dual-motor non-vacant position servo according to claim 2, characterized in that: The motor 1 and the motor 2 are connected to respective angle encoders, and the controller is connected to the angle encoder and the control board.

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