CN104595475A - Electromechanical hybrid type precise transmission system and control method thereof - Google Patents

Electromechanical hybrid type precise transmission system and control method thereof Download PDF

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Publication number
CN104595475A
CN104595475A CN201510025782.9A CN201510025782A CN104595475A CN 104595475 A CN104595475 A CN 104595475A CN 201510025782 A CN201510025782 A CN 201510025782A CN 104595475 A CN104595475 A CN 104595475A
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China
Prior art keywords
transmission
output
control motor
transmission system
controller
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CN201510025782.9A
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CN104595475B (en
Inventor
刘景亚
王蜀生
马云峰
戴文军
王永猛
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CISDI Engineering Co Ltd
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CISDI Engineering Co Ltd
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
    • F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H2061/0075—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by a particular control method
    • F16H2061/0087—Adaptive control, e.g. the control parameters adapted by learning

Abstract

The invention provides an electromechanical hybrid type precise transmission system and a control method of the electromechanical hybrid type precise transmission system. The electromechanical hybrid type precise transmission system comprises a driving motor, a compensation control motor, a transmission device, a detection element and a controller, wherein the transmission device comprises two power input transmission components, the driving motor and the compensation control motor are respectively connected with the two power input transmission components, the detection element is arranged at the output end of the transmission device, and the detection element and the compensation control motor are connected with the controller; original power is provided by the driving motor, and the detection element is used for detecting the actual output rotating speed of the output end of the transmission device; the controller is used for comparing the actual output rotating speed with the theoretical output rotating speed, calculating the transmission error and compensating the rotating speed, needed by the transmission error, of the compensation control motor, and controlling the compensation control motor to carry out error compensation. The electromechanical hybrid type precise transmission system provided by the invention has the advantages that the structure is simple, the requirement on machining and assembling precision of parts is low, the transmission precision can be easily controlled, the cost is low, closed loop control is carried out, the response is rapid, and the electromechanical hybrid type precise transmission system is particularly suitable for the field of precise transmission.

Description

Electro-mechanical mixed precision transmission system and controlling method thereof
Technical field
The present invention relates to precision drive technical field, particularly a kind of electro-mechanical mixed precision transmission system and controlling method thereof.
Background technique
The class type of belt drive that precision drive is is main purpose with highi degree of accuracy transmission campaign, very extensive in field application such as robot, Aero-Space, weaponry, numerical control machine tool and Ferrous Metallurgys.Precision drive of the prior art is many to be realized by the planet-gear transmission device in mechanical transmission, as harmonic driving, Japanese RV transmission, the Twispin transmission of Czech and the Dojen transmission etc. of the U.S..Above-mentioned accurate transmission mechanism is pure mechanical transmission form, there is following deficiency: in transmission device, the inertial load etc. of the machining error of component, assembly error, resiliently deformable and rotating part all has a great impact the transmission accuracy of whole transmission device, reach high transmission accuracy, strictly must control the machining error of each component and assembly error and adopt complicated structure to ensure high rigidity simultaneously, thus make accurate transmission mechanism complex structure, higher to the requirement of processing and assembling, precision is wayward and cost is higher.
Summary of the invention
The present invention is directed to above-mentioned the deficiencies in the prior art, provide a kind of electro-mechanical mixed precision transmission system and controlling method thereof, can while realizing precision drive, require lower, transmission accuracy easily to control to parts machining error and assembly error and cost lower.
For achieving the above object and other relevant objects, the invention provides a kind of electro-mechanical mixed precision transmission system, comprise drive motor, compensatory control motor, transmission device, Detecting element and controller, described transmission device comprises two power input transmission paries, described drive motor and compensatory control motor input transmission part with two power respectively and are connected, described Detecting element is arranged on transmission output, described Detecting element is connected with controller input end, and described controller output end is connected with compensatory control motor.
Structure in employing, transmission device has two degrees of freedom, and two input motions realize the output movement determined, input motion is provided by drive motor and compensatory control motor; Drive motor provides initial motion input; At the output terminal installation and measuring element of transmission device, in order to measure its output quantity, and by measured value input control device; The measured value of output quantity and theoretical value are compared calculating driving error by controller, and determine to compensate the motor speed needed for driving error according to the feature of transmission device; Compensatory control motor receives the motor speed instruction that self-controller sends, and with this rotating speed drive transmission power input transmission part, reaches the object that driving error compensates; Transmission device is driven by drive motor and compensatory control motor simultaneously, and wherein drive motor provides original motion input, and compensatory control motor provides driving error to compensate, and makes transmission system can keep high-precision movement output.The transmission accuracy of this transmission system does not rely on machining accuracy and the assembly precision of component, do not rely on complicated structure and realize high rigidity, more traditional mode manufactures that easy, the structure of assembling is simple and cost is lower, pass through closed loop control, fast response time, directly feeds back to controller from testing result, thus controls the rotating speed of motor by controller control and compensation, coordinate with drive motor and realize highi degree of accuracy transmission, be not subject to the impact of transmission device processing and assembly precision.
As preferably: described transmission device is planetary gear train, and this planetary gear train comprises gear ring, sun gear, planet carrier and planet wheel, in described gear ring, sun gear, planet carrier wherein two be power input transmission part, another is the output block of transmission device.
As preferably: described transmission device is the differential planet transmission mechanism with two degrees of freedom.
As preferably: described transmission device is planet-gear transmission mechanism, comprise ring gear, planetary pinion and eccentric shaft, described planetary pinion is arranged on eccentric shaft, this planetary pinion engages with ring gear, described drive motor output terminal is connected with eccentric shaft, the output terminal of compensatory control motor is connected with gear ring, and described planetary pinion is provided with eccentric output mechanism, and this eccentric output mechanism is connected with output shaft.
As preferably: described Detecting element is speed probe, and this Detecting element is arranged on output shaft.
The present invention also provides a kind of controlling method of electro-mechanical mixed precision transmission system simultaneously, and comprise described electro-mechanical mixed precision transmission system, key is: the power that described drive motor provides is through one of them power input transmission part input transmission device; Described Detecting element detects the actual output speed of transmission output, and is sent to controller; Actual output speed and theoretical output speed compare by controller, calculate the rotating speed of driving error and the compensatory control motor of compensation needed for driving error, and control and compensation control motor drives another power input transmission part to carry out error compensation.
As preferably: described transmission device is planet-gear transmission mechanism, comprise ring gear, planetary pinion and eccentric shaft, described drive motor inputs original power by eccentric shaft, described Detecting element detects the rotating speed that few teeth difference moves planetary wheeling mechanism output, and testing result is sent to controller, described controller obtains after error compensation required drive value through computing, drives gear ring to provide error compensation power by compensatory control motor.
As preferably, the computational methods of described compensation driving error and compensatory control motor are as follows:
According to kinematic principle:
n 2 - n 1 n t - n 1 = z g z b - - - ( 1 )
Theoretical output speed is:
n t = z g - z b z g n 1 - - - ( 2 )
Then compensating driving error is:
e = n r - n t = n r - z g - z b z g n 1 - - - ( 3 )
The rotating speed of compensatory control motor is:
n 2 = ( z b - z g ) n 1 + z g n r z b - - - ( 4 )
Wherein z bfor the number of teeth of ring gear, z gfor the planetary number of teeth, n 1for the rotating speed of drive motor, n 2for the rotating speed of compensatory control motor, n tfor theoretical output speed, n rfor actual measurement output speed, e is for compensating driving error.
Transmission device of the present invention also can be other differential planetary gear trains, and the calculation method of the rotating speed of its compensatory control motor can with reference to above-mentioned four formula, and its principle is identical, does not repeat them here.
As mentioned above, the present invention compared with prior art, has following beneficial effect:
1, the transmission accuracy of this transmission system is realized by the error compensation of compensatory control motor, has the advantages that response is fast, control accuracy is high.
2, the error compensation measure of this transmission system is based on differential error compensation principle, realize " closed loop " to control, as long as export and have error, controller will send instruction to compensatory control motor and carry out compensating error until error concealment, and therefore this type of belt drive can realize Movement transmit accurately.
3, the transmission accuracy of this transmission system does not rely on machining accuracy and the assembly precision of component, do not rely on complicated structure and realize high rigidity, be not subject to the impact of transmission device machining accuracy and assembly precision, more traditional mode manufactures that easy, the structure of assembling is simple and cost is lower, is particularly suitable for precision drive field.
Accompanying drawing explanation
Fig. 1 is the system construction drawing of the embodiment of the present invention;
Fig. 2 is the structural representation of the embodiment of the present invention.
Piece mark explanation
1 drive motor
2 compensatory control motors
3 planet-gear transmission mechanisms
31 eccentric shafts
32 ring gears
33 planetary pinions
34 eccentric output mechanisms
4 Detecting elements
5 controllers
6 output shafts
Embodiment
Below by way of specific instantiation, embodiments of the present invention are described, those skilled in the art the content disclosed by this specification can understand other advantages of the present invention and effect easily.
As depicted in figs. 1 and 2, the invention provides a kind of electro-mechanical mixed precision transmission system, comprise drive motor 1, compensatory control motor 2, transmission device, Detecting element 4 and controller 5, transmission device comprises two power input transmission paries, drive motor 1 and compensatory control motor 2 input transmission part with two power respectively and are connected, Detecting element 4 is arranged on transmission output, and Detecting element 4 is connected with controller 5 input end, and controller 5 output terminal is connected with compensatory control motor 2.
Preferably, transmission device is differential planet gear 33 driving mechanism with two degrees of freedom, in this example, transmission device is planet-gear transmission mechanism 3, comprise ring gear 32, planetary pinion 33 and eccentric shaft 31, planetary pinion 33 is arranged on eccentric shaft 31, this planetary pinion 33 engages with ring gear 32, drive motor 1 output terminal is connected with eccentric shaft 31, the output terminal of compensatory control motor 2 is connected with gear ring, planetary pinion 33 is provided with eccentric output mechanism 34, this eccentric output mechanism 34 is connected with output shaft 6, in this example, Detecting element 4 is speed probe, this Detecting element 4 is arranged on output shaft 6, the driving mechanism of eccentric output mechanism 34 wherein for making output shaft 6 coaxial with drive motor 1, can be by output reel, the pin-hole type out-put mechanism that straight pin and pin cover are formed, also can be floating disc type output mechanism, crosshead shoe output mechanism etc.Its middle controller 5 can be the control unit be made up of controllor for step-by-step motor able to programme and stepper motor driver.
In other embodiments, transmission device can be planetary gear train, this planetary gear train comprises gear ring, sun gear, planet carrier and planet wheel, in gear ring, sun gear, planet carrier wherein two be power input transmission part, be connected with drive motor 1 and compensatory control motor 2 respectively, another is the output block of transmission device.
The present invention also provides a kind of controlling method of electro-mechanical mixed precision transmission system simultaneously, and comprise above-mentioned electro-mechanical mixed precision transmission system, the power that drive motor 1 provides inputs through eccentric shaft 31, drives planetary pinion 33 to rotate; Detecting element 4 detects the actual output speed of output shaft 6, and is sent to controller 5; Actual output speed and theoretical output speed compare by controller 5, calculate the rotating speed of driving error and the compensatory control motor 2 of compensation needed for driving error, and control and compensation control motor 2 drives ring gear 32 to carry out error compensation.
This type of belt drive drives eccentric shaft 31 to input as original motion by drive motor 1, slow down through less-tooth-difference planetary transmission, actual output speed is tested at output terminal installation and measuring element 4, controller 5 calculates theoretical output speed according to formula (2) and actual output speed and theoretical output speed is compared, driving error is calculated according to formula (3), by the control motor speed that formula (4) calculation compensation driving error needs, and drive compensatory control motor 2 to carry out error compensation, to reach the object of highi degree of accuracy drive motion.
The computational methods compensating the rotating speed of driving error and compensatory control motor 2 are as follows:
According to kinematic principle:
n 2 - n 1 n t - n 1 = z g z b - - - ( 1 )
Theoretical output speed is:
n t = z g - z b z g n 1 - - - ( 2 )
Then compensating driving error is:
e = n r - n t = n r - z g - z b z g n 1 - - - ( 3 )
The rotating speed of compensatory control motor 2 is:
n 2 = ( z b - z g ) n 1 + z g n r z b - - - ( 4 )
Wherein z bfor the number of teeth of ring gear 32, z gfor the number of teeth of planetary pinion 33, n 1for the rotating speed of drive motor 1, n 2for the rotating speed of compensatory control motor 2, n tfor theoretical output speed, n rfor actual measurement output speed, e is for compensating driving error.
The transmission accuracy of transmission system of the present invention does not rely on machining accuracy and the assembly precision of component, do not rely on complicated structure and realize high rigidity, by transmission device processing and the impact of assembly precision, more traditional mode manufactures that easy, the structure of assembling is simple and cost is lower, pass through closed loop control, fast response time, directly feed back to controller 5 from testing result, thus calculated by controller 5 and export control signal, the rotating speed of control and compensation control motor 2 reaches the object of driving error compensation, realizes highi degree of accuracy transmission.
Above-described embodiment is illustrative principle of the present invention and effect thereof only, but not for limiting the present invention.Any person skilled in the art scholar all without prejudice under spirit of the present invention and category, can modify above-described embodiment or changes.Therefore, such as have in art usually know the knowledgeable do not depart from complete under disclosed spirit and technological thought all equivalence modify or change, must be contained by claim of the present invention.

Claims (8)

1. an electro-mechanical mixed precision transmission system, it is characterized in that: comprise drive motor, compensatory control motor, transmission device, Detecting element and controller, described transmission device comprises two power input transmission paries, described drive motor and compensatory control motor input transmission part with two power respectively and are connected, described Detecting element is arranged on transmission output, described Detecting element is connected with controller input end, and described controller output end is connected with compensatory control motor.
2. electro-mechanical mixed precision transmission system according to claim 1, it is characterized in that: described transmission device is planetary gear train, this planetary gear train comprises gear ring, sun gear, planet carrier and planet wheel, in described gear ring, sun gear, planet carrier wherein two be power input transmission part, another is the output block of transmission device.
3. electro-mechanical mixed precision transmission system according to claim 1, is characterized in that: described transmission device is the differential planet transmission mechanism with two degrees of freedom.
4. electro-mechanical mixed precision transmission system according to claim 3, it is characterized in that: described transmission device is planet-gear transmission mechanism, comprise ring gear, planetary pinion and eccentric shaft, described planetary pinion is arranged on eccentric shaft, this planetary pinion engages with ring gear, and described drive motor output terminal is connected with eccentric shaft, and the output terminal of compensatory control motor is connected with gear ring, described planetary pinion is provided with eccentric output mechanism, and this eccentric output mechanism is connected with output shaft.
5. electro-mechanical mixed precision transmission system according to claim 4, is characterized in that: described Detecting element is speed probe, and this Detecting element is arranged on output shaft.
6. the controlling method of an electro-mechanical mixed precision transmission system, comprise the electro-mechanical mixed precision transmission system described in claim 1 to 5 any one, it is characterized in that: the power that described drive motor provides is through one of them power input transmission part input transmission device; Described Detecting element detects the actual output speed of transmission output, and is sent to controller; Actual output speed and theoretical output speed compare by controller, calculate the rotating speed of driving error and the compensatory control motor of compensation needed for driving error, and control and compensation control motor drives another power input transmission part to carry out error compensation.
7. the controlling method of electro-mechanical mixed precision transmission system according to claim 6, it is characterized in that: described transmission device is that few teeth difference moves planetary wheeling mechanism, comprise ring gear, planetary pinion and eccentric shaft, described drive motor inputs original power by eccentric shaft, described Detecting element detects the rotating speed that few teeth difference moves planetary wheeling mechanism output, and testing result is sent to controller, described controller obtains after error compensation required drive value through computing, drives gear ring to provide error compensation power by compensatory control motor.
8. the controlling method of electro-mechanical mixed precision transmission system according to claim 7, is characterized in that: the computational methods of described compensation driving error and compensatory control motor are as follows:
According to kinematic principle:
n 2 - n 1 n t - n 1 = z g z b - - - ( 1 )
Theoretical output speed is:
n t = z g - z b z g n 1 - - - ( 2 )
Then compensating driving error is:
e = n r - n t = n r - z g - z b z g n 1 - - - ( 3 )
The rotating speed of compensatory control motor is:
n 2 = ( z b - z g ) n 1 + z g n r z b - - - ( 4 )
Wherein z bfor the number of teeth of ring gear, z gfor the planetary number of teeth, n 1for the rotating speed of drive motor, n 2for the rotating speed of compensatory control motor, n tfor theoretical output speed, n rfor actual measurement output speed, e is for compensating driving error.
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CN105195521A (en) * 2015-10-27 2015-12-30 中冶赛迪工程技术股份有限公司 Transmission device capable of sharing overload
CN109915546A (en) * 2019-04-08 2019-06-21 曹林 A kind of method and system improving micro- Gear Planet Transmission closed loop system precision
CN110345248A (en) * 2018-04-03 2019-10-18 本田技研工业株式会社 The stop mechanism of vehicle
CN113843661A (en) * 2021-11-29 2021-12-28 烟台环球数控科技有限公司 Small-period compensation device for worm gear pair and using method thereof

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CN103291864A (en) * 2012-10-12 2013-09-11 张力 Multi-power control automatic stepless gearbox
CN103701368A (en) * 2014-01-14 2014-04-02 北京理工大学 Dual-motor energy-saving anti-backlash control method
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JPS5757943A (en) * 1980-09-22 1982-04-07 Hitachi Ltd Differential platetary gear
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CN109915546A (en) * 2019-04-08 2019-06-21 曹林 A kind of method and system improving micro- Gear Planet Transmission closed loop system precision
CN113843661A (en) * 2021-11-29 2021-12-28 烟台环球数控科技有限公司 Small-period compensation device for worm gear pair and using method thereof

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