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Method for eliminating tooth space by means of stabilized platform double-direct current torch motor micro-differential drive

A technology of DC torque motor and stable platform, which is applied to components with teeth, mechanical equipment, transmission parts, etc., and can solve problems such as wear, impact of mechanical parts, out-of-step, overshoot and oscillation, and manufacturing errors of transmission gears. Achieve the effect of improving positioning accuracy, easy to implement, and simple structure

Inactive Publication Date: 2008-11-05
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

The DC torque motor and transmission gear are important components of the stabilized platform. The backlash of the gear is the main factor affecting the positioning accuracy of the stabilized platform. It will also cause the mechanical parts of the stabilized platform to produce impact, out-of-step, overshoot and oscillation when changing directions. And so on, the use of high-precision transmission gears and the method of adding pre-tightening force during installation can reduce the influence of backlash to a certain extent, but there are always manufacturing errors in transmission gears, and long-term use will cause wear. Therefore, this Can not solve the essential problem, the method of eliminating the backlash of the transmission by using the micro-differential drive of the double DC torque motor can fundamentally eliminate the influence of the backlash of the transmission and improve the positioning accuracy of the stable platform

Method used

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  • Method for eliminating tooth space by means of stabilized platform double-direct current torch motor micro-differential drive

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Embodiment Construction

[0007] The specific embodiment of the present invention is as figure 1 As shown, let the control amount of the first DC torque motor be u 1 , the control amount of the second DC torque motor is u 2 , the differential amount Δu is the minimum control amount that can overcome the static friction of the transmission mechanism when the two motors independently drive the stable platform, take u 1 =u+Δu,u 2 =u-Δu, the control value u of the first DC torque motor 1 and the control variable u of the second DC torque motor 2 After passing through the first servo amplifier and the second servo amplifier, respectively, drive their respective DC torque motors. When |u|≥|Δu|, the first and second two DC torque motors drive the transmission gear in the same direction, and when |u|<|Δu|, the first and second two DC torque motors form a reverse drive The transmission gear, in which the DC torque motor with a large absolute value of the control amount plays a leading role in driving the r...

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Abstract

A method for stable platform bi-direct current torque motor micro-elementary error to eliminate the backlash, belongs to the high accuracy servo control method. The method uses the bi-direct current torque motor to drive the stable platform transmission gear, and the controlling quantity of the controller of the stable platform respectively controls the two direct current torque motors through two servo amplifiers after respectively stacking the positive negative differential quantity, when the controlling quantity absolute value of the stable platform controller is larger than or equal to the differential control absolute value, two motors drive the transmission gear simultaneously; when the controlling quantity absolute value of the stable platform controller is smaller than the differential control absolute value, the two motors form to the back drive transmission gear, wherein the motor having the larger absolute value plays the leading effects when driving the transmission gear to rotate, and the direct current torque motor having the smaller controlling quantity absolute value drives backwards to make the transmission shaft transmission gear of the two motors respectively mesh with the positive and negative directions of the transmission gear, which eliminates the effect of the transmission backlash, thereby realizing to continuously drive the transmission gear when the stable platform diverts, reaching the aim of advancing the positioning accuracy of the stable platform.

Description

1. Technical field [0001] The invention relates to a method for eliminating the backlash of transmission gears of a stable platform by micro-differential driving of double DC torque motors, which belongs to a high-precision servo control method and can effectively eliminate the influence of backlashes of transmission gears on the positioning accuracy of a stable platform. 2. Background technology [0002] The stable platform has the functions of isolating the disturbance of moving objects and automatically stabilizing, and is widely used in space remote sensing, communication, aerial photography, navigation and guidance, ship-borne missile launchers and ship-borne satellite receiving antennas and other fields. As the scientific instruments carried by aviation, aerospace and marine vehicles become more and more sophisticated, the requirements for the overall or partial pointing accuracy and stability of the instruments are getting higher and higher. The basis for system accur...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): F16H57/12F16H61/00
CPCY02T10/60
Inventor 盛守照
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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