CN101697465A - Double-motor backlash eliminating control device for alternating current servo system - Google Patents
Double-motor backlash eliminating control device for alternating current servo system Download PDFInfo
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- CN101697465A CN101697465A CN200910035637A CN200910035637A CN101697465A CN 101697465 A CN101697465 A CN 101697465A CN 200910035637 A CN200910035637 A CN 200910035637A CN 200910035637 A CN200910035637 A CN 200910035637A CN 101697465 A CN101697465 A CN 101697465A
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Abstract
The invention discloses a double-motor backlash eliminating control device for an alternating current servo system, and relates to the technical field of mechanical control. The radial direction of a main gear is symmetrically meshed with two same pinion gears which are respectively connected with a group of same pinion gear transmission device; the two groups of pinion gear transmission devices are respectively connected with output ends of two groups of same first motor and second motor; the first motor and the second motor are respectively connected with a group of alternating current driver comprising a speed ring and a current ring; and a backlash eliminating control circuit is connected between the two groups of alternating current drivers. The double-motor backlash eliminating control device achieves the aim that the two alternating current servo motors have equal output torque, stable performance and energy conservation and overcome the defects of direct current motors.
Description
Technical field
The present invention relates to mechanical control technology field, especially for the dual motors system technical field of radar tracking servo system, big gun control servo-actuated servo system and other use AC servo.
Background technology
The present crack mode that disappears mainly is divided into three kinds:
1, the machinery crack that disappears:
Advantage: introduce the preload torsionspring on motor or high gear, eliminating the driving-chain backlash, commonly used have a biplate gear of the spring etc.
Shortcoming: processed complex, be difficult for adjusting, after particularly the speed ratio of reduction box was big, how perishable the number of turns that torsion spring changes is more, is difficult to realize the real crack purpose that disappears.
2, the parallel linear double motor electricity crack that disappears:
Advantage: make two motors keep a fixing offset torque, when load current was zero, two motors output equal and opposite in direction, the torque that direction is opposite reached the purpose in the crack that disappears always.
Shortcoming: because two motors can not the load-sharing electric current, always a motor output torque is big, and another motor output torque is little, so the utilization ratio of motor reduces, and is not energy-conservation, and the volume and weight of motor is bigger than normal, also uneconomical.
3, two ladder type double motor electricity crack that disappears:
Advantage: load current hour, the moment relation curve is identical with parallel line type, and when load current is increased to certain numerical value, motor current will be cancelled biasing until fully phasing out gradually according to designed characteristic, the common load-sharing electric current of two motor, i.e. muck in.
Shortcoming: two ladder type double motor electricity disappear, and the crack technology is existing in DC servomechanism at present to be used on a small quantity.But because direct current system has inborn defective, volume is big, brush is easy to wear, needs regularly to adjust maintenance and change, and the trend that progressively is eliminated is arranged.
Summary of the invention
The present invention seeks to design a kind ofly can overcome that above defective, two motors output torque equate, stable performance, energy-conservation AC servo bi-motor disappear the crack control device.
But the present invention includes a gear wheel that is connected with load, two identical pinions of radial symmetric engagement of described gear wheel, two pinions connect one group of identical pinion-gearing respectively separately, described two groups of pinion-gearings are connected to the output of two groups of first identical motor, second motor, described first motor is connected one group of ac driver that comprises speed ring and electric current loop respectively separately with second motor, connects the crack control circuit that disappears between two groups of ac drivers; The described crack control circuit that disappears comprises an electric current summing unit, one can change current signal into a function generator by the biasing voltage signal of moment relation curve adjustment, the current signal output end of first motor and second motor is connected to the input of electric current summing unit respectively by demodulator, the input of the output and function generator of electric current summing unit connects, the output of described function generator is by behind the voltage amplifier circuit, one the tunnel connects the electric current loop input of the ac driver of first motor, and another road connects the electric current loop input of the ac driver of second motor through the reverse process device; The output of the tach signal of first motor and second motor is connected to two inputs of a speed synthesizer, and the output of described speed synthesizer is connected to the speed ring input of the ac driver of first motor.
In order to reach the disappear purpose in crack of electricity, the moment of two motor must be controlled by certain requirement, in fact is exactly the electric current of controlling motor, and alternating current motor is the rotating magnetic field of control motor, also is the electric current of control motor in essence.The electric current of alternating current motor is the three-phase alternation, owing to introduced Current Negative Three-Point Capacitance in the Alternating Current Governor System, alternating current is demodulated to the direct voltage linear with motor current, is called current actual value, i.e. motor current.
The present invention connects two servomotors to a last gear wheel with two identical driving-chains, and wherein first motor is dicyclo (speed ring and electric current loop) control as main motor, and second motor only is a current loop control as from motor.Electric current summation with two motors, the summation after deliver to function generator with electric current, produce a biasing voltage signal of adjusting by the moment relation curve, this signal passes through processing and amplifying again, one the tunnel delivers to the electric current loop of first motor (being main motor) driver, and the electric current loop of second motor (promptly from motor) driver is delivered on another road through reverse process.Deliver to the speed ring of first motor (being main motor) driver after the feedback speed signal of two drivers is synthetic.Speed control is to control by the speed ring of first motor (being main motor) driver, that is to say two electric current loops of a speed ring control, because function generator gives two electric current loops one positive anti-biasing, therefore can in two motors, produce the opposite biasing moment of direction, thereby reach the purpose in the crack that disappears.When reaching set point with current value, according to the curve of function generator, bias voltage drops to zero, and this moment, two electric current loops no longer included biasing, and two motors drags loaded work piece by the maximum moment of setting, and has made full use of the usefulness of motor.
The present invention has realized that two AC servomotor output torques equate, stable performance, purpose of energy saving, has overcome the shortcoming of DC motor, also has the following advantages:
1, the use of can demoting has improved reliability.One cover motor (comprising corresponding pinion) is when breaking down; an other cover motor (comprising corresponding pinion) can work on, and guarantees the operation in whole loop, and the crack only can not disappear; precision reduces, and at this moment can not shut down and repair an other cover motor (comprising corresponding pinion).
2, for the crack that disappears, even do not having under the situation of loading moment, also always two motors is produced the electric current of pre-torque, eliminated the dead band of power tube etc., improve the low-speed characteristic performance.
3, adopt the double motor crack that disappears to drive, can improve the rigidity of driving-chain, improve the natural resonance frequency of system.
The system that the present invention generally is applied to high-precision governing system or load rotating inertia is big, need bi-motor to drag, existing Dual-motors Driving pattern is generally principal and subordinate or paralleling model, and the crack control model that disappears has many advantages, need not mechanically to do too big change and just can realize.
Description of drawings
Fig. 1 is a kind of structural representation of the present invention.
Fig. 2 is the crack control circuit theory diagram that disappears.
Embodiment
As shown in Figure 1, 2, but the present invention is provided with a gear wheel that is connected with load 1, two identical pinions 2,3 of radial symmetric engagement of gear wheel 1, two pinions 2,3 connect 4,5, two groups of pinion- gearings 4,5 of one group of identical pinion-gearing respectively separately and are connected to two groups of first identical motor 6, the output of second motor 7.
The crack control circuit 10 that disappears is provided with an electric current summing unit 11, one can change current signal into a function generator 12 by the biasing voltage signal of moment relation curve adjustment, the current signal output end of first motor 6 and second motor 7 is respectively by demodulator 13,14 are connected to the input of electric current summing unit 11, the input of the output and function generator 12 of electric current summing unit 11 connects, the output of function generator 12 is by behind the voltage amplifier circuit 15, one the tunnel connects the electric current loop 8-2 input of the ac driver 8 of first motor 6, and another road connects the electric current loop 9-2 input of the ac driver 9 of second motor 7 through reverse process device 16.
The output of the tach signal of first motor 6 and second motor 7 is connected to two inputs of a speed synthesizer 17, the output of speed synthesizer 17 is connected to the speed ring 8-1 input of the ac driver 8 of first motor 6, i.e. be connected to the speed ring 8-1 input of the ac driver 8 of first motor 6 after the tach signal of first motor 6 and second motor 7 summation.
Claims (1)
1. double-motor backlash eliminating control device for alternating current servo system, but it is characterized in that comprising a gear wheel that is connected with load, two identical pinions of radial symmetric engagement of described gear wheel, two pinions connect one group of identical pinion-gearing respectively separately, described two groups of pinion-gearings are connected to two groups of first identical motor, the output of second motor, described first motor is connected one group of ac driver that comprises speed ring and electric current loop respectively separately with second motor, connects the crack control circuit that disappears between two groups of ac drivers; The described crack control circuit that disappears comprises an electric current summing unit, one can change current signal into a function generator by the biasing voltage signal of moment relation curve adjustment, the current signal output end of first motor and second motor is connected to the input of electric current summing unit respectively by demodulator, the input of the output and function generator of electric current summing unit connects, the output of described function generator is by behind the voltage amplifier circuit, one the tunnel connects the electric current loop input of the ac driver of first motor, and another road connects the electric current loop input of the ac driver of second motor through the reverse process device; The output of the tach signal of first motor and second motor is connected to two inputs of a speed synthesizer, and the output of described speed synthesizer is connected to the speed ring input of the ac driver of first motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN200910035637A CN101697465A (en) | 2009-09-29 | 2009-09-29 | Double-motor backlash eliminating control device for alternating current servo system |
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| CN200910035637A CN101697465A (en) | 2009-09-29 | 2009-09-29 | Double-motor backlash eliminating control device for alternating current servo system |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101841286A (en) * | 2010-05-28 | 2010-09-22 | 济南二机床集团有限公司 | Double motor driven backlash eliminating device and backlash eliminating method |
| CN102904494A (en) * | 2012-11-12 | 2013-01-30 | 中国电子科技集团公司第五十四研究所 | Multi-motor synchronous anti-backlash method |
| CN103837353A (en) * | 2014-03-11 | 2014-06-04 | 宁波巨匠自动化装备有限公司 | Overhead-type excitation displacement velocity force value relation curve detection equipment |
| CN106151484A (en) * | 2016-07-07 | 2016-11-23 | 航天鑫创自控装备发展股份有限公司 | A kind of eliminate the device of gear backlash, method, control system and control method |
| CN108092561A (en) * | 2016-11-23 | 2018-05-29 | 中国工程物理研究院电子工程研究所 | A kind of Dual-Servo Motor of full digital disappears slot sytem and its control method |
| CN109450164A (en) * | 2018-12-21 | 2019-03-08 | 攀枝花市三圣机械制造有限责任公司 | A kind of dual power source difference transmission system |
| CN111106763A (en) * | 2018-10-26 | 2020-05-05 | 丁顺敏 | Differential transmission system with double power sources |
| CN112003500A (en) * | 2020-08-20 | 2020-11-27 | 中国电子科技集团公司第十四研究所 | Radar multi-motor self-adaptive synchronous anti-backlash control card and system |
| CN114123905A (en) * | 2021-05-25 | 2022-03-01 | 华能陕西定边电力有限公司 | Electric anti-backlash control method based on analog circuit and alternating current-direct current servo system |
| CN114552868A (en) * | 2022-01-29 | 2022-05-27 | 中国人民解放军空军军医大学 | Rotary positioning device, double-servo motor drive control method and application |
| CN116232127A (en) * | 2023-05-08 | 2023-06-06 | 成都微精电机股份公司 | Double-motor gap eliminating method |
-
2009
- 2009-09-29 CN CN200910035637A patent/CN101697465A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101841286A (en) * | 2010-05-28 | 2010-09-22 | 济南二机床集团有限公司 | Double motor driven backlash eliminating device and backlash eliminating method |
| CN102904494A (en) * | 2012-11-12 | 2013-01-30 | 中国电子科技集团公司第五十四研究所 | Multi-motor synchronous anti-backlash method |
| CN103837353A (en) * | 2014-03-11 | 2014-06-04 | 宁波巨匠自动化装备有限公司 | Overhead-type excitation displacement velocity force value relation curve detection equipment |
| CN103837353B (en) * | 2014-03-11 | 2016-08-17 | 宁波互生元机电科技有限公司 | On put excitation type velocity of displacement force value relation curve detection equipment |
| CN106151484A (en) * | 2016-07-07 | 2016-11-23 | 航天鑫创自控装备发展股份有限公司 | A kind of eliminate the device of gear backlash, method, control system and control method |
| CN108092561A (en) * | 2016-11-23 | 2018-05-29 | 中国工程物理研究院电子工程研究所 | A kind of Dual-Servo Motor of full digital disappears slot sytem and its control method |
| CN111106763A (en) * | 2018-10-26 | 2020-05-05 | 丁顺敏 | Differential transmission system with double power sources |
| CN109450164A (en) * | 2018-12-21 | 2019-03-08 | 攀枝花市三圣机械制造有限责任公司 | A kind of dual power source difference transmission system |
| CN112003500A (en) * | 2020-08-20 | 2020-11-27 | 中国电子科技集团公司第十四研究所 | Radar multi-motor self-adaptive synchronous anti-backlash control card and system |
| CN114123905A (en) * | 2021-05-25 | 2022-03-01 | 华能陕西定边电力有限公司 | Electric anti-backlash control method based on analog circuit and alternating current-direct current servo system |
| CN114123905B (en) * | 2021-05-25 | 2023-11-14 | 华能陕西定边电力有限公司 | Electric anti-backlash control method based on analog circuit and AC/DC servo system |
| CN114552868A (en) * | 2022-01-29 | 2022-05-27 | 中国人民解放军空军军医大学 | Rotary positioning device, double-servo motor drive control method and application |
| CN116232127A (en) * | 2023-05-08 | 2023-06-06 | 成都微精电机股份公司 | Double-motor gap eliminating method |
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Open date: 20100421 |