CN108092561A - A kind of Dual-Servo Motor of full digital disappears slot sytem and its control method - Google Patents
A kind of Dual-Servo Motor of full digital disappears slot sytem and its control method Download PDFInfo
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- CN108092561A CN108092561A CN201611037016.5A CN201611037016A CN108092561A CN 108092561 A CN108092561 A CN 108092561A CN 201611037016 A CN201611037016 A CN 201611037016A CN 108092561 A CN108092561 A CN 108092561A
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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
- H02P5/68—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more dc dynamo-electric motors
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Abstract
The present invention relates to ground telemetering reception system SERVO CONTROL fields, and in particular to a kind of Dual-Servo Motor of full digital disappears slot sytem, including servo control module, servo-driven module and sensing module；The servo control module passes through fieldbus transmission speed control command to servo-driven module；The servo-driven module includes backlash control unit and electric-motor drive unit, and servo-driven module transmission drive signal to servomotor simultaneously receives the feedback speed signal that sensing module transmits；The sensing module transfers the feedback speed signal of servomotor to servo-driven module, while transfers position feed back signal to servo control module.Disappear the control method of slot sytem the invention also discloses a kind of Dual-Servo Motor of full digital, greatlys improve the precision for the gap that disappears.
Description
Technical field
The present invention relates to ground telemetering reception system SERVO CONTROL fields, more specifically say, are related to a kind of full digital
Dual-Servo Motor disappear slot sytem and its control method.
Background technology
Ground telemetering reception system is receiving unit usually using bigbore parabola antenna, it is desirable that servo-drive system has
Very high driving moment and low-speed stability.Common servomotor rated speed is higher, and output torque is smaller, and loads and then
Ask rotating speed relatively low, driving moment is larger, it is therefore desirable to add in a very big retarder between motor and load, it is on the one hand
On the other hand amplifying moment reduces rotating speed.But the introducing of retarder can make drive chain there are backlash, backlash be used for preventing by
The gear teeth are blocked in error and thermal deformation, and space is left to the lubricating oil film between the flank of tooth, but backlash is simultaneously again to mechanism
Idle running is brought in reversion, mechanism is prevented to cause the reduction of servo-drive system pointing accuracy from being accurately positioned.In order to reduce or eliminate tooth
Adverse effect that gap is brought to mechanism usually can be used that machinery disappears gap or the disappear method of gap of electricity solves, it is necessary to using the gap method that disappears.
The essence of the double-motor anti-backlash kind of drive is to make transmission system during startup and commutation using servo control circuit, two sets
The output gear of completely the same reducing gear is adjacent to respectively on the opposite binding face of main shaft gear wheel, makes main shaft gear wheel
Biased torque, it is impossible to swing back and forth in backlash, so as to achieve the purpose that the gap that disappears.Machinery disappear gap transmission method include it is double
Plate gear adds spring transmission, utilizes eccentric bushing adjustment gear centre-to-centre spacing and the method for springs preload.Machinery disappears gap transmission only
It can be used to transfer smaller torque, and be solved for the power transmission of larger torque preferably with the electric method for disappearing gap transmission.By
It is often operated in antenna near zero-speed, the presence of backlash, which can be driven, in driving-chain generates corresponding hysteresis or even can generate
Limit cycles oscillations, in power chain, traditional machinery gap that disappears can not meet required precision, and the electricity gap technology that disappears has more
More superiority.
The content of the invention
It is an object of the present invention to for problems of the prior art, propose that a kind of double servos of full digital are electric
Machine disappears slot sytem and its control method, greatlys improve the precision for the gap that disappears.
To achieve these goals, the technical solution adopted by the present invention is：
A kind of Dual-Servo Motor of full digital disappears slot sytem, it is characterised in that：Including servo control module, servo-driven module
And sensing module；
The servo control module passes through fieldbus transmission speed control command to servo-driven module；
The servo-driven module sends drive signal to servomotor according to speed control commands and receives sensing module and transmit
Feedback speed signal；
The sensing module transfers the feedback speed signal of servomotor to servo-driven module, while transfers position feed back signal
To servo control module.
The servo control module includes general industrial personal computer, Serial Communication Card and CAN cards.
The servo control module includes the complex control unit being combined by feedforward control and feedback control, described compound
The incremental timestamp that control unit passes through control errors.
The servo-driven module includes backlash control unit and electric-motor drive unit, and the backlash control unit is used to disappear
Except the gash spacing error of servomotor, the electric-motor drive unit is used to send drive signal to servomotor.
The backlash control unit is general-purpose built-in type communication control panel, is provided with bias current controller, the biasing
Current controller by be more than 200Hz FREQUENCY CONTROL main servo motor speed and control from the torque and electric current of servomotor
Relation eliminates gash spacing error.
The fieldbus uses CAN bus, and the universal serial bus uses RS422 buses, forms digital
Formula control system.
A kind of Dual-Servo Motor of full digital disappears the control method of slot sytem, it is characterised in that：Comprise the following steps：
First, SERVO CONTROL step：The servomotor speed of service is calculated, and speed control commands are sent to servo-drive step；
2nd, servo-drive step：The speed control commands from SERVO CONTROL step are received, drive servomotor；
3rd, sensory feedback step：The speed signal and position signal of servomotor are gathered, speed signal is fed back into servo-drive
Step, and position signal is fed back into SERVO CONTROL step.
The servo-drive step comprises the following steps：
Step 1, configuration driven device initial operation mode, enables to servomotor；
Step 2, the feedback of master driver is received, reads master driver operating current；
Step 3, speed control commands are received, main servo motor is determined and from servomotor according to the direction of motion；
Step 4, configuration driven device operating mode, to master driver transmission speed control command；
Step 5, the gap electric current that disappears from driver is calculated；
Step 6, current control order is sent to from driver.
By adopting the above-described technical solution, the beneficial effects of the invention are as follows：
Servo control module includes complex control unit, and complex control unit is made up of the incremental timestamp of control errors
Electric current loop, speed ring, the dual-servo-motor system model of position ring three close-loop control, on the basis of control errors, before introducing
Feedback compensation passage, the tracking error of servo-drive system is greatly reduced in the case where not influencing system stability, is improved
Control accuracy；Bias current controller controls the speed and electric current of two motors through backlash control algorithm, Ke Yishi in real time
Now eliminate the function that gear transfers gap.
Description of the drawings
Fig. 1 is the system structure diagram of the present invention.
Fig. 2 is feedforward control system structure chart in the present invention.
Fig. 3 is the work flow diagram of backlash control module in the present invention.
Fig. 4 is motor driving moment in the present invention and loading speed relational graph.
Fig. 5 is motor driving moment and loading speed relational graph after amendment in the present invention.
Fig. 6 rises for 1 medium velocity ring of embodiment and trailing edge step response curve.
Fig. 7 is single motor electric current loop and speed ring step response curve in embodiment 1.
Fig. 8 is position ring step response curve when not disappearing gap in embodiment 2.
Position ring step response curve when Fig. 9 is backlash control in embodiment 3.
Specific embodiment
A kind of Dual-Servo Motor of full digital disappears slot sytem, including servo control module, servo-driven module and sensing
Module；
The servo control module passes through fieldbus transmission speed control command to servo-driven module；
The servo-driven module includes backlash control unit and electric-motor drive unit, and servo-driven module sends drive signal extremely
Servomotor simultaneously receives the feedback speed signal that sensing module transmits；
The sensing module transfers the feedback speed signal of servomotor to servo-driven module, while transfers position feed back signal
To servo control module.
The servo control module includes general industrial personal computer, Serial Communication Card and CAN cards.
The servo control module includes the complex control unit being combined by feedforward control and feedback control, described compound
The incremental timestamp that control unit passes through control errors.
The backlash control unit is general-purpose built-in type communication control panel, is provided with bias current controller, the biasing
Current controller by be more than 200Hz FREQUENCY CONTROL main servo motor speed and control from the torque and electric current of servomotor
Relation eliminates gash spacing error.
The fieldbus uses CAN bus, and the universal serial bus uses RS422 buses, forms digital
Formula control system.
A kind of Dual-Servo Motor of full digital disappears the control method of slot sytem, comprises the following steps：
First, SERVO CONTROL step：The servomotor speed of service is calculated, and speed control commands are sent to servo-drive step；
2nd, servo-drive step：The speed control commands from SERVO CONTROL step are received, drive servomotor；
3rd, sensory feedback step：The speed signal and position signal of servomotor are gathered, speed signal is fed back into servo-drive
Step, and position signal is fed back into SERVO CONTROL step.
The servo-drive step comprises the following steps：
Step 1, configuration driven device initial operation mode, enables to servomotor；
Step 2, the feedback of master driver is received, reads master driver operating current；
Step 3, speed control commands are received, main servo motor is determined and from servomotor according to the direction of motion；
Step 4, configuration driven device operating mode, to master driver transmission speed control command；
Step 5, the gap electric current that disappears from driver is calculated；
Step 6, current control order is sent to from driver.
Preferred pid control algorithm in system, while feedforward control is introduced on the basis of PID control, do not influencing system
The tracking error of servo-drive system is substantially reduced in the case of stability, improves control accuracy.Since the system is to use
It is that digital computer and RS422, the digital display circuit of CAN bus composition, SERVO CONTROL use incremental timestamp device, its basis
The deviation of sampling instant calculates controlled quentity controlled variable.
（1）
Wherein： K P For proportional gain,K I For integral coefficient,K D For differential coefficient,u(k) measure in order to control,e(k-1) and e (k) point
Not Wei (k- 1) andkDeviation obtained by controlling cycle.
Can be obtained according to the fundamentals of successive deductionkSecondary controlling increment。
（2）
Since computer control system is using constant sampling period T, once it is determined thatK P 、K I 、K D As long as it is surveyed three times using preceding
The departure of magnitude, you can be obtained by formula (2)u(k) controlling increment.
When servo-control system is in tracking mode, it is desirable that its dynamic tracking error must very little.In this case,
Usually introduce the mode of feedforward control.Feedforward control is exactly on the basis of control errors, introduces feedforward compensation passage.It is actual
It is a kind of open loop+closed-loop control, does not wait until that output quantity changes and formed and the control action that correction deviates just is generated after deviation,
But just acted while control action is applied to system, it is rapider than feedback control from the influence of system delay.Separately
Outside, since its transmission function directly acts on the input of system, there is foresight to the input of system, so being easy to system
Tracking accuracy improves several times or even tens times, but does not influence the stability of former closed-loop system.It can be preferable using feedforward control
Ground solves the contradiction between the tracking accuracy and stability of general closed loop servo system generally existing.In the controls, simultaneously
Method using feedforward control and feedback control is known as complex controll.
The structure chart of feedforward tracking control system is as shown in Figure 2.In figureW f (s) it is feedforward controller,G(s) it is closed loop system
It unites total open-loop transfer function.Can obtain feedforward control system closed loop transfer function, from Fig. 2 is
（3）
Backlash control circuit is mainly made of C8051F040 one-chip computers and peripheral circuit.Peripheral circuit includes microcontroller
Minimum circuit, two RS422 driving circuits and a CAN bus driving circuit.Driving unit uses an independent gap control that disappears
Circuit processed coordinates Liang Ge Israel Elmo serial motors drivers.The workflow of backlash control circuit is as shown in Figure 3.
Using two sets identical motors when double-motor anti-backlash is driven, two sets of identical retarders of drive respectively, then by
The output shaft pinion gear of retarder drives bearing axle bull gear drive, by servo control circuit, gear wheel is made to start and change
To the effect of biased torque always in the process, two pinion gears clamp gear wheel, and gear wheel can not be in gear clearance
Backswing is moved, and is eliminated gap so as to reach, is improved the purpose of servo-drive system precision.When double-motor anti-backlash system works, two motors
（Motor 1 and motor 2）Output torque and load actuating speed relation curve it is as shown in Figure 4.As can be seen from FIG., never
There is the situation that two motor output torques are simultaneously zero, that is to say, that whenever two motors at least one can be to day
The torque that the application of line seat gear is not zero, under the action of this torque, the movement clearance of antenna pedestal is impossible to exist.
When positive movement, motor 1 and driver 1 are main drive system, and motor 2 and driver 2 are from drive system, instead
It is exchanged to principal and subordinate's drive system during movement.Master driver works in velocity mode, and electric current is worked in from driver（Torque）Pattern.
When motor driver works in velocity mode, electric current loop is the inner ring of speed ring.It is fast when applying some to driver
It drags out a miserable existence after order, driver can make motor possess corresponding movement velocity by quickly adjusting electric current.Elmo drivers velocity rings are
Closed loop operation process（Command speed is reached by current regulation）, 4kHz electric current loop bandwidth of operation may insure that driving current can root
According to load disturbance and the resistance torque real-time change from motor.Motor driver can be read by backlash control unit in real time
Electric currentI 1。
Motor driver works in electric current（Torque）It is good during pattern, between motor output torque and motor drive current
Linear relationship, as long as accurately controlling current of electric, also just achieved the purpose that it is accurate control motor output torque.System is applied
Add corresponding bias current（Torque）I o。
According to Fig. 4, it is from the setting electric current of driverI 2 = I 1 - I o.When system motion is in low speed or commutation, always
There are one the biasing torques opposite with main motor to exist, and ensures being driven without backlash for system.With the increase of system motion speed,
It will become power source, two motor resultant force driving load movements from sources of resistance from motor.Due to from motor drive current always with
Main motor driving current differs bias currentI o, do not play its due power output always from motor, cause power wave
Take.
Double-motor anti-backlash mainly plays a part of to eliminate backlash in low speed or commutation, reaches certain speed in systemV 0When, it can
The torque identical with main motor is exported from motor to allow, so as to reduce the power attenuation to main motor.When speed preset isV xWhen,
It is from the setting electric current of driver
I 2 = I 1 - I o（1-V x/ V 0）（4）
WhenV xIt is more thanV 0When, orderI 2 = I 1.Pass through linear change bias currentI oAfterwards, the output torque of system drives with load
Tensionvelocity curve is as shown in Figure 5.
The characteristic of double-motor anti-backlash is mainly reflected inI oWithV 0Parameter.In actual debuggingI oBe set as rated current 20%~
30%,V 0It is set as the 10%~20% of rated speed, when the frequency of backlash control is more than 200Hz, system can reach the gap function that disappears
It is and with good stability.
Embodiment 1
When double-motor anti-backlash servo and load（Antenna pedestal and antenna surface）Servo-drive system debugging is carried out after the completion of integral installation.This is
System uses motor as DC servo motor, and Rated motor rotating speed is 1500r/min, rated voltage 60V, rated current 8A, 12V
Kr/min tachometers are fed back.Before double-motor anti-backlash system debug is carried out, the Tuning the of Elmo Composer are first passed through
Current Loop and Tuning the Velocity Loop instruments carry out single motor the debugging of electric current loop and speed ring,
The response of electric current loop and speed ring is made to meet rapidity and constringent requirement.Fig. 6 show speed ring rising and trailing edge rank
Jump response curve, and Fig. 7 show single motor electric current loop and speed ring step response curve.
Embodiment 2
Primary loop when position ring is system worked well, when adding the control mode of feedforward using PID/feedback, servo-drive system
Position closed loop characteristic depends primarily upon the rise time of system and steady-state error represents.The system when single motor works, according to
Position ring step response（1°）Curve（As shown in Figure 8）, system overcome overshoot and reached proper convergence（Upper long-time
Only 0.43s）, but after reaching target location, position closed loop has carried out stable state concussion, and steady-state error is up to 0.1 °.It can not expire
Sufficient millimere-wave band telemetry communication demand.
Embodiment 3
To verify influence of the double-motor anti-backlash algorithm to system accuracy based on bias current, in the control algolithm of example 2
After adding in double-motor anti-backlash control, two motors of the gap that disappears simultaneously are driven load, and keen current I turns=1.2A, bias current
I partially=0.55A.Position ring step response curve but reaches target position as shown in figure 9, the system rise time is consistent with single motor
It postpones, steady-state error only has 0.006 °, can meet high accuracy servo system and be accurately positioned demand.
Claims (8)
- The slot sytem 1. a kind of Dual-Servo Motor of full digital disappears, it is characterised in that：Including servo control module, servo-drive mould Block and sensing module；The servo control module passes through fieldbus transmission speed control command to servo-driven module；The servo-driven module sends drive signal to servomotor according to speed control commands and receives sensing module and transmit Feedback speed signal；The sensing module transfers the feedback speed signal of servomotor to servo-driven module, while transfers position feed back signal To servo control module.
- The slot sytem 2. a kind of Dual-Servo Motor of full digital according to claim 1 disappears, it is characterised in that：The servo Control module includes general industrial personal computer, Serial Communication Card and CAN cards.
- The slot sytem 3. a kind of Dual-Servo Motor of full digital according to claim 1 disappears, it is characterised in that：The servo Control module includes the complex control unit being combined by feedforward control and feedback control, and the complex control unit passes through error The incremental timestamp of control.
- The slot sytem 4. a kind of Dual-Servo Motor of full digital according to claim 1 disappears, it is characterised in that：The servo Drive module includes backlash control unit and electric-motor drive unit, and the backlash control unit is used to eliminate the backlash of servomotor Error, the electric-motor drive unit are used to send drive signal to servomotor.
- The slot sytem 5. a kind of Dual-Servo Motor of full digital according to claim 4 disappears, it is characterised in that：The gap that disappears Control unit is general-purpose built-in type communication control panel, bias current controller is provided with, by the FREQUENCY CONTROL master for being more than 200Hz Servomotor speed and control eliminate gash spacing error from the torque and current relationship of servomotor.
- The slot sytem 6. a kind of Dual-Servo Motor of full digital according to claim 1 disappears, it is characterised in that：The scene Bus uses CAN bus, and the universal serial bus uses RS422 buses, forms totally digitized control system.
- The controlling party of slot sytem 7. the Dual-Servo Motor based on a kind of full digital described in claim 1-6 any one disappears Method, it is characterised in that：Comprise the following steps：（One）SERVO CONTROL step：The servomotor speed of service is calculated, and speed control commands are sent to servo-drive step；（Two）Servo-drive step：The speed control commands from SERVO CONTROL step are received, drive servomotor；（Three）Sensory feedback step：The speed signal and position signal of servomotor are gathered, speed signal is fed back to servo drives Dynamic step, and position signal is fed back into SERVO CONTROL step.
- The control method of slot sytem 8. a kind of Dual-Servo Motor of full digital according to claim 7 disappears, feature exist In：The servo-drive step comprises the following steps：Step 1, configuration driven device initial operation mode, enables to servomotor；Step 2, the feedback of master driver is received, reads master driver operating current；Step 3, speed control commands are received, main servo motor is determined and from servomotor according to the direction of motion；Step 4, configuration driven device operating mode, to master driver transmission speed control command；Step 5, by applying bias current to from driving motor, the gap electric current that disappears from driver is calculated；Step 6, current control order is sent to from driver.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109687773A (en) * | 2019-01-04 | 2019-04-26 | 北京二十一世纪科技发展有限公司 | A kind of backlash control system and full anti-backlash control method |
| CN109921693A (en) * | 2018-12-21 | 2019-06-21 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of more motors electrically disappear gap and automatic fault partition method |
| 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 |
| CN112269333A (en) * | 2020-09-29 | 2021-01-26 | 安徽博微长安电子有限公司 | Antenna position locking and attitude long-time keeping method |
| 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 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109921693A (en) * | 2018-12-21 | 2019-06-21 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of more motors electrically disappear gap and automatic fault partition method |
| CN109687773A (en) * | 2019-01-04 | 2019-04-26 | 北京二十一世纪科技发展有限公司 | A kind of backlash control system and full anti-backlash control method |
| CN109687773B (en) * | 2019-01-04 | 2024-04-02 | 北京二十一世纪科技发展有限公司 | Anti-backlash control system and full-anti-backlash control method |
| 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 |
| CN112269333A (en) * | 2020-09-29 | 2021-01-26 | 安徽博微长安电子有限公司 | Antenna position locking and attitude long-time keeping method |
| 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 |
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Application publication date: 20180529 |