CN114123905A - Electric anti-backlash control method based on analog circuit and alternating current-direct current servo system - Google Patents
Electric anti-backlash control method based on analog circuit and alternating current-direct current servo system Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
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Abstract
The invention discloses an electric backlash elimination control method based on an analog circuit and an alternating current-direct current servo system. The invention is suitable for AC and DC motor drivers, does not need to arrange a communication link and additionally install a mechanical backlash eliminating device, has no bandwidth limitation caused by a digital loop, and obviously improves the dynamic response performance of the load and the stability of the system.
Description
Technical Field
The invention relates to the technical field of analog circuits and automatic control, in particular to a load system with double or multiple motor drives, such as a rotary table, an antenna and radar servo control system, a wind driven generator yaw system and the like.
Background
In a large gear transmission structure, the control of backlash directly affects the dynamic response characteristics of the load, and common backlash elimination methods include mechanical backlash elimination and electrical backlash elimination. The mechanical backlash elimination needs to add a preload torque spring in the structure, the structure is complex, the maintenance is difficult, and the actual effect is not ideal. The electric backlash elimination widely adopts a double-motor force bias mode, so that the double motors generate a butting moment to eliminate backlash, and the specific implementation methods are various.
The gap eliminating control method of the alternating current driving analog circuit is as follows: CN200920232354.3, application date: on the 29 th 9 th 2009, the patent names are: a double-electromechanical gap eliminating control device of an AC servo system. The method adopts a method of adding bias torque by an analog circuit to realize backlash elimination. The current and voltage signals required to be collected are more, a current loop of the driver is required to be provided with an interface for adding a bias moment, most drivers do not have the interface at present, and the slave driver does not have the current loop due to the adoption of master-slave control, so that when the load is unbalanced or the loop disturbance is large, two motors push against each other or one motor drags away, the maximum efficiency of the double motors cannot be exerted, and the dynamic performance is poor.
The AC drive digital anti-backlash control method is as the Chinese patent application number: CN201520017342.4, application date: on 12 days 1 month 2015, the patent names: a digitalized backlash elimination control system based on alternating current driving. The method has the advantages that the digital control of the loop is realized, and the debugging is convenient; the disadvantages are that the hardware device of the speed controller is added, the requirement on hardware configuration is high, a driver is required to be provided with a high-speed communication interface, and due to the limitation of the communication speed, the bandwidth of a digital speed loop is also limited, which affects the dynamic performance of a load.
The above two patents only discuss the backlash elimination method based on the ac servo, but ignore the problem of the backlash elimination of the gear of the dc servo control system. In the fields of antenna, radar, fan yaw and the like, because the load needs 360-degree unlimited rotation, the slip ring is frequently used in the structural part, and the interference of an alternating current servo system to the slip ring is far greater than that of a direct current servo system, so that the direct current servo system is also widely used.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide an electric backlash control method based on an analog circuit and an alternating current-direct current servo system. The invention is suitable for AC and DC motor drivers, does not need to arrange a communication link and additionally install a mechanical backlash eliminating device, has no bandwidth limitation caused by a digital loop, and obviously improves the dynamic response performance of the load and the stability of the system.
The technical scheme adopted by the invention is as follows: an electric anti-backlash control method based on an analog circuit and an alternating current-direct current servo system is characterized in that: the speed loop PID adjusting circuit comprises a rotating speed feedback voltage signal conditioning circuit, a speed loop instruction correcting circuit, a speed loop PID adjusting circuit, a bias torque generating circuit, an inverter circuit, a first driver current loop instruction generating circuit and a second driver current loop instruction generating circuit; three voltage input signals and two voltage output signals, the voltage input signals are respectively: the upper computer speed command signal, first motor rotational speed feedback signal, second motor rotational speed feedback signal, voltage output signal are respectively: a first driver current loop command signal, a second driver current loop command signal; the method is characterized in that:
the first motor rotating speed feedback signal and the second motor rotating speed feedback signal generate a speed instruction correction signal through a rotating speed feedback voltage signal conditioning circuit, and the speed instruction correction signal is subtracted from the upper computer speed instruction signal to generate an instruction deviation signal; the instruction deviation signal is used as the input of a speed loop PID setting circuit, a load current instruction signal is generated after passing through the speed loop PID setting circuit, and the load current instruction signal is divided into three paths: the first path goes to a bias torque generating circuit and generates a bias torque signal after passing through a trapezoidal function generator; the second path is directly sent to a first driver current loop instruction generating circuit and is summed with a bias torque signal to be used as a first driver current loop control instruction signal; and the third path is subjected to reversing by the reversing circuit and then goes to the second driver current loop instruction generating circuit to be summed with the bias torque signal to be used as a second driver current loop control instruction signal, and the two paths of driver current loop instruction signals are used for controlling the two paths of alternating current and direct current servo driving.
Furthermore, the rotating speed feedback voltage signal conditioning circuit is an adder, and the adder adds the first motor rotating speed feedback signal and the second motor rotating speed feedback signal and obtains an average value to obtain a speed instruction correction signal.
Furthermore, the speed loop command correction circuit is a subtracter, and the subtracter subtracts a speed command correction signal generated by the rotating speed feedback voltage signal conditioning circuit from an upper computer speed command signal to obtain a command deviation signal.
Furthermore, the speed loop PID setting circuit is a proportional integral derivative circuit, and the command deviation signal generated by the speed loop command correction circuit generates a load current command signal after passing through the proportional integral derivative circuit.
Furthermore, the bias torque generating circuit is a trapezoidal function generator, and a load current command signal generated by the speed loop PID setting circuit generates a bias torque signal after passing through the function generator.
Furthermore, the first driver current loop instruction generating circuit and the second driver current loop instruction generating circuit are both addition circuits, and the first driver current loop instruction generating circuit adds the load current instruction signal and the bias torque signal to generate a current loop control instruction signal of the first driver; the second driver current loop instruction generating circuit adds the reversed load current instruction signal and the bias torque signal through the phase-inverting circuit to generate a current loop control instruction signal of the second driver.
Further, the output signal of the inverting circuit is equal to the input signal in magnitude and opposite in direction.
Further, when the speed measuring device is a direct current speed measuring machine, the two motor rotating speed feedback voltage signal input ports are directly connected with the output of the direct current speed measuring machine; when the speed measuring device is an encoder, the two motor rotating speed feedback voltage signal input ports are connected with the driver, and the driver acquires encoder data and outputs a motor rotating speed feedback voltage signal.
Further, the first driver current loop instruction signal and the second driver current loop instruction signal output by the first driver current loop instruction generating circuit and the second driver current loop instruction generating circuit are respectively connected with the current loop instruction input ports of the two drivers; both drivers only need to work in the current loop, and the speed loop is set to be forbidden.
Furthermore, the rotating speed feedback voltage signal conditioning circuit, the speed loop instruction correcting circuit, the speed loop PID setting circuit, the bias torque generating circuit, the inverter circuit, the first driver current loop instruction generating circuit and the second driver current loop instruction generating circuit are all analog circuits.
The invention can process the rotating speed feedback signals of different forms of the AC and DC servo systems, does not need a communication link, has low requirement on hardware configuration, can adapt to most of the AC and DC servo systems, has simple circuits and fewer interfaces, only collects two paths of rotating speed voltage signals, adopts a speed loop and a trapezoidal function bias torque generator, realizes electric backlash elimination without motor butting, and has more stable system.
The invention achieves the following beneficial effects:
1. the rotating speed feedback voltage signal conditioning circuit can adapt to different motor rotating speed acquisition forms, so that the device can be simultaneously applied to alternating current and direct current servo driving systems, and has wider application range and stronger practicability;
2. the input of the bias torque generating circuit uses a load current instruction signal generated by an internal circuit of the device, and the current of a motor does not need to be collected, so that the interface of the device is simpler, and the system is simpler;
3. the analog circuit device with the speed loop is used, the bandwidth and the dynamic performance of the loop cannot be influenced, and the two drivers share one speed loop, so that the phenomenon of motor butting cannot be generated, and the system is more stable and reliable;
4. the servo control system using the device for eliminating the backlash does not need a high-speed communication link, only uses a driver current loop, has low requirements on driver hardware configuration and has stronger applicability.
Drawings
Fig. 1 is a schematic block diagram of an electric backlash control apparatus.
Fig. 2 is a schematic diagram of a tachometer motor speed measurement electric anti-backlash control system.
Fig. 3 is a schematic diagram of an encoder speed measuring electric anti-backlash control system.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples of the present invention without any inventive step, are within the scope of the present invention.
FIG. 1 is a schematic block diagram of an electric backlash elimination control apparatus according to the present invention, which includes a rotation speed feedback voltage signal conditioning circuit, a speed loop command correction circuit, a speed loop PID setting circuit, a bias torque generation circuit, an inverter circuit, a first driver current loop command generation circuit, and a second driver current loop command generation circuit; at the same time, the device has three voltage input signals and two voltage output signalsRespectively as follows: the upper computer speed command signal, first motor rotational speed feedback signal, second motor rotational speed feedback signal, voltage output signal are respectively: a first driver current loop command signal, a second driver current loop command signal; u shape0、U1、U2Is an input voltage signal of the device, Ui1、Ui2Is the output voltage signal of the device. Wherein U is0Speed command signal U transmitted from upper computer1、U2The motor speed feedback signals are #1 and #2 in an AC and DC servo control system respectively.
As shown in fig. 2 and 3, when the motor rotation speed is measured in different manners, U is1、U2The manner of acquisition is also different. When the rotating speed of the motor is measured by the direct current tachometer, the direct current tachometer directly outputs a voltage signal which is in direct proportion to the rotating speed and can be directly connected to the electric anti-backlash control device; when the rotating speed of the motor is measured by the encoder, the encoder is directly connected to the driver, and the driver reads the rotating speed signal and outputs the rotating speed to the electric anti-backlash control device as a voltage signal. U shapei1、Ui2The current loop command signals connected to the #1 and #2 drivers are used as the #1 and #2 drivers, the speed loops of the #1 and #2 drivers are all set to be disabled, and only the current loop is enabled.
As shown in FIG. 1, U1、U2Summing in speed feedback voltage conditioning signal circuits, i.e.
n is an adjustment coefficient, which is adjusted by a variable resistor, and outputs a correction value as a speed command. Speed instruction U sent by upper computer0Subtracting the correction value to generate a command deviation voltage signal, wherein the deviation voltage signal is used as the input of a speed loop PID setting circuit, a load current command signal is generated after the deviation voltage signal passes through the PID setting circuit, and the command is divided into three paths: the first path goes to a bias torque generating circuit and generates a bias torque signal after passing through a trapezoidal function generator; the second path is directly led to a #1 driver current loop instruction generating circuit and is summed with a bias torque signal to be used as a #1 driver current loop control instruction signal Ui1(ii) a First, theThree paths of the signals are subjected to reverse direction and then go to a #2 driver current loop instruction generating circuit to be summed with a bias torque signal to be used as a #2 driver current loop control instruction signal Ui2。
The inverter is used for reversing the control command of the #2 driver, and although the control command of the #1 driver has opposite signs, the output directions of the motors are consistent due to the installation direction of the gears.
The bias torque generating circuit is a trapezoidal function generator and is used for generating a bias torque signal according to the load, and since the control commands of the #1 and #2 drivers are opposite in sign, the summation of the bias torque signal is actually an addition and a subtraction, so that two motors can generate a torque deviation, one drags for another, and the gear is prevented from moving in the backlash, so that the backlash is eliminated.
The trapezoidal function generator generates a constant moment offset signal when the load is small, and when no load exists, namely the motors do not rotate, the moment offset signal is the instruction of the two motors, the moment offset signal is equal in size, so that the two motors are in an opposite-vertex state, no backlash exists, and the load is kept still and stable; when the load is smaller and within the threshold range, the magnitude of the moment bias signal is unchanged, the summation operation of the load current commands of the two motors and the moment bias signal is one addition and one subtraction, the output of the two motors is one large and one small, one motor drags the other motor to move, and no backlash still exists; the torque bias signal is reduced from a constant value to zero along with the increase of the load and exceeds a threshold range, the output forces of the two motors gradually tend to be consistent, the motor with large output force still pushes away the gear at the beginning, the motor with small output force is dragged away firstly, then walks in the tooth gap and finally pushes the other side of the tooth gap, and finally the output force of the motor with large output force is the same as that of the motor with large output force at the beginning, and the motor is dragged to carry to achieve the maximum efficiency. In all states of the motors, at least one motor always pushes the gear to move, so that the purpose of eliminating backlash is achieved.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are intended to be covered by the scope of the present invention.
Claims (10)
1. An electric backlash control method based on an analog circuit and an AC-DC servo system comprises a rotating speed feedback voltage signal conditioning circuit, a speed loop instruction correction circuit, a speed loop PID setting circuit, a bias torque generation circuit, an inverter circuit, a first driver current loop instruction generation circuit and a second driver current loop instruction generation circuit; three voltage input signals and two voltage output signals, the voltage input signals are respectively: the upper computer speed command signal, first motor rotational speed feedback signal, second motor rotational speed feedback signal, voltage output signal are respectively: a first driver current loop command signal, a second driver current loop command signal; the method is characterized in that:
the first motor rotating speed feedback signal and the second motor rotating speed feedback signal generate a speed instruction correction signal through a rotating speed feedback voltage signal conditioning circuit, and the speed instruction correction signal is subtracted from the upper computer speed instruction signal to generate an instruction deviation signal; the instruction deviation signal is used as the input of a speed loop PID setting circuit, a load current instruction signal is generated after passing through the speed loop PID setting circuit, and the load current instruction signal is divided into three paths: the first path goes to a bias torque generating circuit and generates a bias torque signal after passing through a trapezoidal function generator; the second path is directly sent to a first driver current loop instruction generating circuit and is summed with a bias torque signal to be used as a first driver current loop control instruction signal; and the third path is subjected to reversing by the reversing circuit and then goes to the second driver current loop instruction generating circuit to be summed with the bias torque signal to be used as a second driver current loop control instruction signal, and the two paths of driver current loop instruction signals are used for controlling the two paths of alternating current and direct current servo driving.
2. The electric backlash control method based on the analog circuit and the AC/DC servo system as claimed in claim 1, wherein: the rotating speed feedback voltage signal conditioning circuit is an adder, and the adder adds the first motor rotating speed feedback signal and the second motor rotating speed feedback signal to obtain an average value so as to obtain a speed instruction correction signal.
3. The electric backlash control method based on the analog circuit and the AC/DC servo system as claimed in claim 1, wherein: the speed loop instruction correction circuit is a subtracter, and the subtracter subtracts a speed instruction correction signal generated by a rotating speed feedback voltage signal conditioning circuit from a speed instruction signal of a method computer to obtain an instruction deviation signal.
4. The electric backlash control method based on the analog circuit and the AC/DC servo system as claimed in claim 1, wherein: the speed loop PID setting circuit is a proportional integral derivative circuit, and a command deviation signal generated by the speed loop command correction circuit generates a load current command signal after passing through the proportional integral derivative circuit.
5. The electric backlash control method based on the analog circuit and the AC/DC servo system as claimed in claim 1, wherein: the bias torque generating circuit is a trapezoidal function generator, and a load current command signal generated by the speed loop PID setting circuit generates a bias torque signal after passing through the function generator.
6. The electric backlash control method based on the analog circuit and the AC/DC servo system as claimed in claim 1, wherein: the first driver current loop instruction generating circuit and the second driver current loop instruction generating circuit are addition circuits, and the first driver current loop instruction generating circuit adds a load current instruction signal and a bias torque signal to generate a current loop control instruction signal of the first driver; the second driver current loop instruction generating circuit adds the reversed load current instruction signal and the bias torque signal through the phase-inverting circuit to generate a current loop control instruction signal of the second driver.
7. The electric backlash control method based on the analog circuit and the AC/DC servo system as claimed in claim 1, wherein: the output signal of the reverse circuit is equal to the input signal in magnitude and opposite in direction.
8. The electric backlash control method based on the analog circuit and the AC/DC servo system as claimed in claim 1, wherein: when the speed measuring device is a direct current speed measuring machine, two motor rotating speed feedback voltage signal input ports are directly connected with the output of the direct current speed measuring machine; when the speed measuring device is an encoder, the two motor rotating speed feedback voltage signal input ports are connected with the driver, and the driver acquires encoder data and outputs a motor rotating speed feedback voltage signal.
9. The electric backlash control method based on the analog circuit and the AC/DC servo system as claimed in claim 1, wherein: the first driver current loop instruction signal and the second driver current loop instruction signal output by the first driver current loop instruction generating circuit and the second driver current loop instruction generating circuit are respectively connected with the current loop instruction input ports of the two drivers; both drivers only need to work in the current loop, and the speed loop is set to be forbidden.
10. The electric backlash control method based on the analog circuit and the AC/DC servo system as claimed in claim 1, wherein: the rotating speed feedback voltage signal conditioning circuit, the speed loop instruction correcting circuit, the speed loop PID setting circuit, the bias torque generating circuit, the inverter circuit, the first driver current loop instruction generating circuit and the second driver current loop instruction generating circuit are all analog circuits.
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101697465A (en) * | 2009-09-29 | 2010-04-21 | 扬州曙光光电自控有限责任公司 | Double-motor backlash eliminating control device for alternating current servo system |
| CN203504458U (en) * | 2013-10-28 | 2014-03-26 | 扬州曙光光电自控有限责任公司 | AC servo driver with anti-backlash control and master-slave control |
| CN103701368A (en) * | 2014-01-14 | 2014-04-02 | 北京理工大学 | Dual-motor energy-saving anti-backlash control method |
| CN103744439A (en) * | 2014-01-21 | 2014-04-23 | 南京理工大学 | Multi-motor anti-backlash drive control system |
| CN107919821A (en) * | 2017-12-21 | 2018-04-17 | 中国电子科技集团公司第五十四研究所 | A kind of antenna tracking double-motor anti-backlash system |
| 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 |
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2021
- 2021-11-16 CN CN202111351237.0A patent/CN114123905B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101697465A (en) * | 2009-09-29 | 2010-04-21 | 扬州曙光光电自控有限责任公司 | Double-motor backlash eliminating control device for alternating current servo system |
| CN203504458U (en) * | 2013-10-28 | 2014-03-26 | 扬州曙光光电自控有限责任公司 | AC servo driver with anti-backlash control and master-slave control |
| CN103701368A (en) * | 2014-01-14 | 2014-04-02 | 北京理工大学 | Dual-motor energy-saving anti-backlash control method |
| CN103744439A (en) * | 2014-01-21 | 2014-04-23 | 南京理工大学 | Multi-motor anti-backlash drive control system |
| 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 |
| CN107919821A (en) * | 2017-12-21 | 2018-04-17 | 中国电子科技集团公司第五十四研究所 | A kind of antenna tracking double-motor anti-backlash system |
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