CN101298884A - Method for eliminating tooth space by means of stabilized platform double-direct current torch motor micro-differential drive - Google Patents
Method for eliminating tooth space by means of stabilized platform double-direct current torch motor micro-differential drive Download PDFInfo
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- CN101298884A CN101298884A CNA2008100204569A CN200810020456A CN101298884A CN 101298884 A CN101298884 A CN 101298884A CN A2008100204569 A CNA2008100204569 A CN A2008100204569A CN 200810020456 A CN200810020456 A CN 200810020456A CN 101298884 A CN101298884 A CN 101298884A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- 238000002955 isolation Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
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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
One, technical field
The present invention relates to a kind of moving method of eliminating stabilized platform driving gear gap that drives of double-direct current torch motor elementary errors of utilizing, belong to the high-precision servo controlling method, it can eliminate the influence of driving gear backlass to the stabilized platform Location accuracy effectively.
Two, background technique
Stabilized platform has the moving object disturbance of isolation and autostable function, is widely used in space remote sensing, communicates by letter, takes photo by plane, navigates and fields such as guidance, ship-based missile pad and boat-carrying satellite earth antenna.The scientific instrument entrained along with Aeronautics and Astronautics and navigation device etc. are more and more accurate, whole or local pointing accuracy and stability requirement be more and more higher to instrument, and the high-performance stabilized platform is the basis that guarantees national defence type product such as Aeronautics and Astronautics and armament systems precision and performance.Direct current torque motor and driving gear are the important component parts of stabilized platform, the gear backlass is the principal element that influences the stabilized platform Location accuracy, it can cause that also the mechanical part of stabilized platform produces impact when commutation, step-out, phenomenons such as hyperharmonic vibration, the method that adds pretightening force when using high-precision driving gear and installation, can reduce the influence of backlass to a certain extent, but always there is foozle in driving gear, long-term in addition the use can produce wearing and tearing, therefore, this can not solve essential problem, adopt the moving influence that the method for eliminating the transmission backlash can fundamentally be eliminated the transmission backlash, the Location accuracy of raising stabilized platform of driving of double-direct current torch motor elementary errors.
Three, summary of the invention
In order to eliminate of the influence of driving gear backlass, the invention provides a kind of moving method of eliminating stabilized platform driving gear gap that drives of double-direct current torch motor elementary errors of utilizing to the stabilized platform Location accuracy.
The technical solution adopted for the present invention to solve the technical problems is: adopt double-direct current torch motor to drive the driving gear of stabilized platform, it is u that the controller of note stabilized platform is given the no differential controlled quentity controlled variable of the first and second two direct current torque motors, and the controlled quentity controlled variable of establishing first direct current torque motor is u
1, the controlled quentity controlled variable of second direct current torque motor is u
2, differential amount Δ u can overcome the minimum controlled quentity controlled variable of driving mechanism stiction when being two motor drive stabilized platforms, get u
1=u+ Δ u, u
2=u-Δ u, the controlled quentity controlled variable u of first direct current torque motor
1Controlled quentity controlled variable u with second direct current torque motor
2Respectively behind first servoamplifier and second servoamplifier, drive direct current torque motor separately more respectively, when | u| 〉=| during Δ u|, the first and second two direct current torque motors drive driving gear in the same way, when | u|＜| during Δ u|, the first and second two direct current torque motors form the reverse direction actuation driving gear, wherein the direct current torque motor that the controlled quentity controlled variable absolute value is big rises and drives the leading role that driving gear rotates, the direct current torque motor reverse direction actuation that the controlled quentity controlled variable absolute value is little, make the first and second two direct current torque motors shaft gear respectively with the positive and negative sense of rotation engagement of driving gear, thereby eliminate the influence of transmission backlash, Continuous Drive driving gear when realizing commutation reaches the purpose that improves the stabilized platform Location accuracy.
The invention has the beneficial effects as follows, when it has overcome single direct current torque motor and has driven, when commutation, there is reverse backlash problem, can not positive and negative Continuous Drive and be easy to generate phenomenons such as impact, step-out, hyperharmonic vibration when causing stabilized platform low speed, improved the Location accuracy of stabilized platform, it is simple in structure, is easy to realize.
Four, description of drawings
Fig. 1 is the moving method schematic diagram of eliminating backlash that drives of stabilized platform double-direct current torch motor elementary errors.
Five, embodiment
The specific embodiment of the present invention as shown in Figure 1, the controlled quentity controlled variable of establishing first direct current torque motor is u
1, the controlled quentity controlled variable of second direct current torque motor is u
2, differential amount Δ u can overcome the minimum controlled quentity controlled variable of driving mechanism stiction when being two motor drive stabilized platforms, get u
1=u+ Δ u, u
2=u-Δ u, the controlled quentity controlled variable u of first direct current torque motor
1Controlled quentity controlled variable u with second direct current torque motor
2Behind first servoamplifier and second servoamplifier, drive direct current torque motor separately more respectively respectively.When | u| 〉=| during Δ u|, the first and second two direct current torque motors drive driving gear in the same way, when | u|＜| during Δ u|, the first and second two direct current torque motors form the reverse direction actuation driving gear, wherein the direct current torque motor that the controlled quentity controlled variable absolute value is big rises and drives the leading role that driving gear rotates, the direct current torque motor reverse direction actuation that the controlled quentity controlled variable absolute value is little, make the first and second two direct current torque motors shaft gear respectively with the positive and negative sense of rotation engagement of driving gear, thereby eliminate the influence of transmission backlash, Continuous Drive driving gear when realizing commutation reaches the purpose that improves the stabilized platform Location accuracy.
Claims (1)
1. a stabilized platform double-direct current torch motor elementary errors is moved the method for eliminating backlash that drives, it is characterized in that: utilize double-direct current torch motor to drive the stabilized platform driving gear, it is u that the controller of note stabilized platform is given the no differential controlled quentity controlled variable of the first and second two direct current torque motors, and the controlled quentity controlled variable of establishing first direct current torque motor is u
1, the controlled quentity controlled variable of second direct current torque motor is u
2, differential amount Δ u can overcome the minimum controlled quentity controlled variable of driving mechanism stiction when being two motor drive stabilized platforms, get u
1=u+ Δ u, u
2=u-Δ u, the controlled quentity controlled variable u of first direct current torque motor
1Controlled quentity controlled variable u with second direct current torque motor
2Respectively behind first servoamplifier and second servoamplifier, drive direct current torque motor separately more respectively, when | u| 〉=| during Δ u|, the first and second two direct current torque motors drive driving gear in the same way, when | u|＜| during Δ u|, the first and second two direct current torque motors form the reverse direction actuation driving gear, wherein the direct current torque motor that the controlled quentity controlled variable absolute value is big rises and drives the leading role that driving gear rotates, the direct current torque motor reverse direction actuation that the controlled quentity controlled variable absolute value is little, make the first and second two direct current torque motors shaft gear respectively with the positive and negative sense of rotation engagement of driving gear, thereby eliminate the influence of transmission backlash, the Continuous Drive driving gear reaches the purpose that improves the stabilized platform Location accuracy when realizing the low speed commutation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100204569A CN101298884A (en) | 2008-03-07 | 2008-03-07 | Method for eliminating tooth space by means of stabilized platform double-direct current torch motor micro-differential drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100204569A CN101298884A (en) | 2008-03-07 | 2008-03-07 | Method for eliminating tooth space by means of stabilized platform double-direct current torch motor micro-differential drive |
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| Publication Number | Publication Date |
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| CN101298884A true CN101298884A (en) | 2008-11-05 |
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| CNA2008100204569A Pending CN101298884A (en) | 2008-03-07 | 2008-03-07 | Method for eliminating tooth space by means of stabilized platform double-direct current torch motor micro-differential drive |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103701368A (en) * | 2014-01-14 | 2014-04-02 | 北京理工大学 | Dual-motor energy-saving anti-backlash control method |
| CN103693205A (en) * | 2013-12-30 | 2014-04-02 | 广东电网公司电力科学研究院 | Pod stabilized platform control method based on backlash estimation and compensation |
| CN105156654A (en) * | 2015-09-23 | 2015-12-16 | 路斯特运动控制技术（上海）有限公司 | RPDC (Rack and Pinion Drive Control) electrical synchronization gap elimination device and gas elimination method thereof |
| CN106547279A (en) * | 2016-12-08 | 2017-03-29 | 深圳市合信自动化技术有限公司 | A kind of localization method of the servo-driver with unidirectional positioning function |
| 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 |
| CN109591996A (en) * | 2017-09-30 | 2019-04-09 | 西门子公司 | Control device, the method for coming about and system of coming about |
-
2008
- 2008-03-07 CN CNA2008100204569A patent/CN101298884A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103693205A (en) * | 2013-12-30 | 2014-04-02 | 广东电网公司电力科学研究院 | Pod stabilized platform control method based on backlash estimation and compensation |
| CN103701368A (en) * | 2014-01-14 | 2014-04-02 | 北京理工大学 | Dual-motor energy-saving anti-backlash control method |
| CN103701368B (en) * | 2014-01-14 | 2016-03-30 | 北京理工大学 | The energy-conservation anti-backlash control method of bi-motor |
| CN105156654A (en) * | 2015-09-23 | 2015-12-16 | 路斯特运动控制技术（上海）有限公司 | RPDC (Rack and Pinion Drive Control) electrical synchronization gap elimination device and gas elimination method thereof |
| CN105156654B (en) * | 2015-09-23 | 2018-08-31 | 路斯特运动控制技术（上海）有限公司 | RPDC electric synchronizations backlash eliminating equipment and its gap method that disappears |
| CN106547279A (en) * | 2016-12-08 | 2017-03-29 | 深圳市合信自动化技术有限公司 | A kind of localization method of the servo-driver with unidirectional positioning function |
| CN106547279B (en) * | 2016-12-08 | 2019-10-25 | 深圳市合信自动化技术有限公司 | A kind of localization method of the servo-driver with unidirectional positioning function |
| CN109591996A (en) * | 2017-09-30 | 2019-04-09 | 西门子公司 | Control device, the method for coming about and system of coming about |
| 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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Open date: 20081105 |