Dual-Motor Drive Voltage Correction for Torque Balance
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Solution Overview
Problem
Existing drive systems that utilize multiple motors to drive a common object face challenges in balancing torque, leading to issues like speed fluctuation, mechanical deformation, and gear wear due to torque imbalances, and require costly methods to eliminate backlash.
Innovation Solution
A drive system that includes a controller and corrector to synchronize the voltage command values of two motors, using a correction controller to adjust the output torques by calculating torque constant ratios and induced voltage constants, allowing the motors to operate in opposite or identical directions to balance torque and eliminate backlash through voltage control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If multiple motors are used to drive a common object to increase driving torque, then the driving torque is improved, but torque imbalance causes speed fluctuation and mechanical deformation
Solution Approach 1:
The control device measures the actual rotation speeds of both motors and uses this feedback to calculate corrected voltage command values. By continuously monitoring and adjusting based on actual performance, the system compensates for torque imbalances and maintains stable operation of the common driven object
Solution Approach 2:
The system changes the voltage command parameters applied to each motor based on their individual characteristics. By calculating correction values that account for differences in motor parameters (such as torque constants and induced voltage constants), the system optimizes the driving parameters to achieve balanced torque output and stable speed
2Power
If multiple motors are used to drive a common object, then driving torque is increased, but backlash in the mechanical transmission system causes positioning errors and mechanical wear
Solution Approach 1:
The system replaces mechanical methods for eliminating backlash (such as preloaded gears or anti-backlash mechanisms) with an electrical control solution. By using voltage command correction based on motor characteristics and actual speed feedback, the system achieves precise positioning without relying on complex mechanical transmission modifications
Solution Approach 2:
The control device continuously monitors the rotation speed of each motor and uses this feedback to adjust the voltage commands. This closed-loop control compensates for backlash effects in real-time, maintaining positioning accuracy despite the presence of mechanical transmission elements
3Manufacturing precision
If costly mechanical methods are used to eliminate backlash, then positioning accuracy is improved, but device complexity and cost increase
Solution Approach 1:
The invention substitutes complex mechanical backlash elimination mechanisms with a simpler electrical control system. By using voltage command correction based on motor characteristics and feedback control, the system achieves the same positioning accuracy without adding mechanical complexity
Solution Approach 2:
The control device acts as an intermediary between the command signal and the motors, introducing a correction layer that accounts for individual motor characteristics. This software-based intermediary eliminates the need for complex mechanical intermediaries designed to compensate for backlash
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach effectively balances the output torques of the motors, preventing torque-related issues and eliminating backlash at a lower cost compared to current control methods, thereby enhancing the reliability and efficiency of the drive system.
Implementation Method 1
a first motor 221 and a second motor 222, a driving device 210 for driving the first motor 221 and the second motor 222
Data Source
AI summary
A driving device for driving a first motor to transmit a driving force to a driven object and a second motor to transmit a driving force to the driven object include a controller and a corrector. The controller outputs a first voltage command value to drive the first motor and a second voltage command value to drive the second motor. The corrector corrects the first voltage command value and the second voltage command value, based on a parameter relating to driving of the first motor and the second motor obtained when an output torque of the first motor and an output torque of the second motor are applied to the driven object in opposite directions.