Double-motor coaxial driven backlash elimination control system and backlash elimination control method thereof

Abstract

The invention discloses a double-motor coaxial driven backlash elimination control system which comprises a principal computer, a master motor driver, a slave motor driver, a first motor, a second motor, a first mechanical transmission chain and a second mechanical transmission chain. The principal computer is connected with the master motor driver and the slave motor driver respectively through a field bus. The master motor driver is connected with the first mechanical transmission chain through the first motor. The slave motor driver is connected with the second mechanical transmission chain through the second motor. The first mechanical transmission chain and the second mechanical transmission chain are respectively connected to a load driven by the system. The invention further discloses a backlash elimination method based on the double-motor coaxial driven backlash elimination control system. According to the invention, secondary programming is performed in the digitally-controlled motor drivers, a backlash elimination control link is added, double-motor coaxial driven backlash elimination control by universal motor drivers is realized, the backlash elimination torque can be conveniently set as required, and speed feedback signals of the double motors can be accessed into a control circuit to avoid the problem of differential oscillation.

Description

technical field [0001] The invention discloses a dual-motor coaxial drive anti-backlash control system and a corresponding anti-backlash control method, and relates to the technical field of dual-motor coaxial drive control. Background technique [0002] In the control system based on mechanical transmission, the existence of nonlinear backlash in the transmission chain not only affects the dynamic performance of the control system but also affects the positioning accuracy of the system. Therefore, in the field of high-precision positioning accuracy control, it is necessary to eliminate the backlash of the transmission chain in order to improve the control accuracy. The prior art mainly adopts two methods: mechanical backlash elimination and dual-motor coaxial drive for anti-backlash. [0003] Chinese patent application number: CN201210022983.X, application date: January 11, 2012, patent name: anti-backlash gear, the invention relates to an anti-backlash gear, which consist...

AI Technical Summary

Problems solved by technology

The disadvantage of the mechanical anti-backlash method is that this method is to add a mechanical anti-backlash mechanism in the transmission chain, which makes the design of the transmission mechanism complicated and the debugging difficulty increases

The disadvantage of this method is that this method is to set a fixed anti-backlash torque on the two motors, which not only loses the driving power of the motor, but also affects the synchronization performance of the two motors because the fixed anti-backlash torque is equal in magnitude and opposite in direction.

This anti-backlash method does not have the shortcoming of one of the above-mentioned control motor anti-backlash methods. The analog anti-backlash circuit is used to complete the anti-backlash control. The disadvantage is that this method is to design an anti-backlash circuit between the two motor drivers and increase the hardware. cost and installation space, and the actual debugging of this method is more complicated

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