CN104595475B - The control method of electro-mechanical mixed precision transmission system - Google Patents
The control method of electro-mechanical mixed precision transmission system Download PDFInfo
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- CN104595475B CN104595475B CN201510025782.9A CN201510025782A CN104595475B CN 104595475 B CN104595475 B CN 104595475B CN 201510025782 A CN201510025782 A CN 201510025782A CN 104595475 B CN104595475 B CN 104595475B
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- 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
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
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Abstract
The present invention provides a kind of electro-mechanical mixed precision transmission system and its control method, including motor, compensation controlled motor, transmission device, detecting element and controller, transmission device includes two power and inputs transmission parts, motor and compensation controlled motor are connected with two power input transmission parts respectively, detecting element is arranged on transmission output, detecting element and compensation controlled motor and the defeated connection of controller；Motor provides original power, and detecting element detects the reality output rotating speed of transmission output；Reality output rotating speed compared with theoretical output speed, is calculated driving error and compensates the rotating speed of the compensation controlled motor needed for driving error by controller, and controls compensation controlled motor to carry out error compensation.The present invention is simple in construction, requires that parts machining assembly precision low, transmission accuracy is easily controlled, closed-loop control low with cost, and response is rapid, especially suitable for precision drive field.
Description
Technical field
The present invention relates to precision drive technical field, particularly a kind of electro-mechanical mixed precision transmission system and its controlling party
Method.
Background technology
Precision drive be with high accuracy transmit motion for main purpose a kind of type of belt drive, robot, Aero-Space,
The fields such as weaponry, Digit Control Machine Tool and Ferrous Metallurgy are using quite varied.Precision drive of the prior art is passed by machinery more
Planet-gear transmission device in dynamic realizes, such as harmonic drive, the RV transmissions of Japan, the Twispin transmissions of Czech and
The Dojen transmissions in the U.S. etc..Above-mentioned accurate transmission mechanism is purely mechanic type of belt drive, has following deficiency：In transmission device
The mismachining tolerances of parts, rigging error, inertial load of elastic deformation and rotating part etc. are all to the biography of whole transmission device
Dynamic precision has a great impact, and to reach high transmission accuracy, it is necessary to strictly controls the mismachining tolerance and rigging error of each parts
And the structure of complexity is used simultaneously to ensure high rigidity, so that accurate transmission mechanism is complicated, is wanted to what is processed and assemble
Ask higher, precision is whard to control and cost is higher.
The content of the invention
The present invention is directed to above-mentioned the deficiencies in the prior art, there is provided a kind of electro-mechanical mixed precision transmission system and its control
Method, relatively low, transmission accuracy, which is easily controlled, can be required to parts machining error and rigging error while precision drive is realized
System and cost are relatively low.
In order to achieve the above objects and other related objects, the present invention provides a kind of electro-mechanical mixed precision transmission system, bag
Motor, compensation controlled motor, transmission device, detecting element and controller are included, it is defeated that the transmission device includes two power
Enter transmission parts, the motor and compensation controlled motor are connected with two power input transmission parts respectively, the detection
Element is arranged on transmission output, and the detecting element is connected with controller input, the controller output end with
Compensate controlled motor connection.
Using upper structure, transmission device has two frees degree, and two input motions realize the output campaign determined, input
Motion is provided by motor and compensation controlled motor；Motor provides initial motion input；In the output of transmission device
End installation detecting element, to measure its output quantity, and by measured value input controller；Controller by the measured value of output quantity with
Theoretical value is compared calculating driving error, and determines that the motor needed for compensation driving error turns according to the characteristics of transmission device
Speed；Compensate controlled motor and receive the motor speed instruction sent from controller, and with one of the rotating speed driving transmission device
Power inputs transmission parts, reaches the purpose of driving error compensation；Transmission device is by motor and compensates controlled motor simultaneously
Driving, wherein motor provide original motion input, and compensation controlled motor provides driving error compensation, makes transmission system can
To keep high-precision movement output.Machining accuracy and assembling essence of the transmission accuracy of the transmission system independent of parts
Degree, the structure independent of complexity realize high rigidity, and more traditional mode manufactures that to assemble easy, simple in construction and cost relatively low,
By closed-loop control, fast response time, controller directly is fed back to from testing result, so as to control compensation control by controller
The rotating speed of motor, coordinate with motor and realize high accuracy transmission, do not influenceed by transmission device processing and assembly precision.
As preferred：The transmission device is planetary gear train, and the planetary gear train includes gear ring, sun gear, planet carrier and row
Star-wheel, two of which is that power inputs transmission parts in the gear ring, sun gear, planet carrier, and another is defeated for transmission device
Go out part.
As preferred：The transmission device is the differential planet transmission mechanism with two frees degree.
As preferred：The transmission device is planet-gear transmission mechanism, including ring gear, planetary gear and partially
Mandrel, the planetary gear are arranged on eccentric shaft, and the planetary gear engage with ring gear, the motor output end and inclined
Mandrel is connected, and the output end for compensating controlled motor is connected with gear ring, eccentric output mechanism is provided with the planetary gear, this is inclined
Heart output mechanism is connected with output shaft.
As preferred：The detecting element is speed probe, and the detecting element is arranged on output shaft.
The present invention also provides a kind of control method of electro-mechanical mixed precision transmission system simultaneously, including described electromechanics mixes
Box-like precision transmission system, key are：The power that the motor provides is defeated through one of power input transmission parts
Enter transmission device；The reality output rotating speed of the detecting element detection transmission output, and it is sent to controller；Controller
By reality output rotating speed compared with theoretical output speed, calculate driving error and compensate the compensation control needed for driving error
The rotating speed of motor processed, and control compensation controlled motor to drive another power input transmission parts to carry out error compensation.
As preferred：The transmission device is planet-gear transmission mechanism, including ring gear, planetary gear and partially
Mandrel, the motor input original power by eccentric shaft, and the detecting element moves planetary wheeling mechanism output to few teeth difference
Rotating speed detected, and testing result is sent to controller, the controller obtains power needed for error compensation through computing
After value, error compensation power is provided by compensating controlled motor driven gear ring.
Preferably, the computational methods of the compensation driving error and compensation controlled motor are as follows：
According to kinematic principle：
Theoretical output speed is：
Then compensation driving error is：
Compensation controlled motor rotating speed be：
Wherein zbFor the number of teeth of ring gear, zgFor the planetary number of teeth, n1For the rotating speed of motor, n2Controlled for compensation
The rotating speed of motor processed, ntFor theoretical output speed, nrTo survey output speed, e is compensation driving error.
The transmission device of the present invention can also be other differential planetary gear trains, and it compensates the calculating side of the rotating speed of controlled motor
Formula is referred to aforementioned four formula, and its principle is identical, will not be repeated here.
As described above, the present invention is compared with prior art, have the advantages that：
1st, the transmission accuracy of the transmission system is realized by the error compensation of compensation controlled motor, is had and is responded fast, control
The characteristics of precision is high.
2nd, the error compensation measure of the transmission system is based on differential error compensation principle, " closed loop " control is realized, as long as defeated
Going out has error, and controller will issue an instruction to compensate error until error concealment to compensation controlled motor, therefore the transmission shape
Formula can realize that accurately motion is transmitted.
3rd, machining accuracy and assembly precision of the transmission accuracy of the transmission system independent of parts, independent of complexity
Structure realize high rigidity, do not influenceed by transmission device machining accuracy and assembly precision, more traditional mode manufacture assembling letter
Just, simple in construction and cost is relatively low, particularly suitable for precision drive field.
Brief description of the drawings
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 motor
2 compensation controlled motors
3 planet-gear transmission mechanisms
31 eccentric shafts
32 ring gears
33 planetary gears
34 eccentric output mechanisms
4 detecting elements
5 controllers
6 output shafts
Embodiment
Illustrate embodiments of the present invention below by way of specific instantiation, those skilled in the art can be by this specification
Disclosed content understands other advantages and effect of the present invention easily.
As depicted in figs. 1 and 2, the present invention provides a kind of electro-mechanical mixed precision transmission system, including motor 1, benefit
Controlled motor 2, transmission device, detecting element 4 and controller 5 are repaid, transmission device includes two power and inputs transmission parts, driving
Motor 1 and compensation controlled motor 2 are connected with two power input transmission parts respectively, and it is defeated that detecting element 4 is arranged on transmission device
Go out on end, detecting element 4 is connected with the input of controller 5, and the output end of controller 5 is connected with compensation controlled motor 2.
Preferably, transmission device is the transmission mechanism of differential planet gear 33 with two frees degree, in this example
Transmission device is planet-gear transmission mechanism 3, including ring gear 32, planetary gear 33 and eccentric shaft 31, planetary gear
33 are arranged on eccentric shaft 31, and the planetary gear 33 is engaged with ring gear 32, and the output end of motor 1 is connected with eccentric shaft 31,
The output end of compensation controlled motor 2 is connected with gear ring, eccentric output mechanism 34 is provided with planetary gear 33, the eccentric output machine
Structure 34 is connected with output shaft 6, and detecting element 4 is speed probe in this example, and the detecting element 4 is arranged on output shaft 6, wherein
Eccentric output mechanism 34 to make the transmission mechanism coaxial with motor 1 of output shaft 6, can be for by output reel, straight pin
The pin-hole type out-put mechanism formed with pin set, or floating disc type output mechanism, crosshead shoe output mechanism etc..Wherein control
Device 5 can be the control element formed by may be programmed controllor for step-by-step motor and stepper motor driver.
In other embodiment, transmission device can be planetary gear train, and the planetary gear train includes gear ring, sun gear, planet carrier
And planetary gear, two of which is that power inputs transmission parts in gear ring, sun gear, planet carrier, respectively with motor 1 and compensation
Controlled motor 2 connects, and another is the output block of transmission device.
The present invention also provides a kind of control method of electro-mechanical mixed precision transmission system simultaneously, including above-mentioned electromechanics mixes
Box-like precision transmission system, the power that motor 1 provides input through eccentric shaft 31, drive planetary gear 33 to rotate；Detection member
Part 4 detects the reality output rotating speed of output shaft 6, and is sent to controller 5；Controller 5 exports reality output rotating speed with theoretical
Rotating speed is compared, and is calculated driving error and is compensated the rotating speed of the compensation controlled motor 2 needed for driving error, and controls compensation
Controlled motor 2 drives ring gear 32 to carry out error compensation.
The type of belt drive drives eccentric shaft 31 to be inputted as original motion by motor 1, through small Tooth Number Difference Planetary Transmission
Device is slowed down, and tests reality output speed in output end installation detecting element 4, controller 5 is defeated according to formula (2) computational theory
Go out rotating speed by reality output rotating speed compared with theoretical output speed, driving error is calculated according to formula (3), calculated by formula (4)
The controlled motor rotating speed that driving error needs is compensated, and drives compensation controlled motor 2 to carry out error compensation, to reach high-precision biography
The purpose of dynamic motion.
The computational methods for compensating driving error and compensating the rotating speed of controlled motor 2 are as follows：
According to kinematic principle：
Theoretical output speed is：
Then compensation driving error is：
Compensation controlled motor 2 rotating speed be：
Wherein zbFor the number of teeth of ring gear 32, zgFor the number of teeth of planetary gear 33, n1For the rotating speed of motor 1, n2To mend
Repay the rotating speed of controlled motor 2, ntFor theoretical output speed, nrTo survey output speed, e is compensation driving error.
Machining accuracy and assembly precision of the transmission accuracy of transmission system of the present invention independent of parts, independent of multiple
Miscellaneous structure realizes high rigidity, is influenceed by transmission device processing and assembly precision, and more traditional mode manufactures assembling simplicity, knot
Structure is simple and cost is relatively low, by closed-loop control, fast response time, directly controller 5 is fed back to from testing result, so as to pass through
Controller 5 calculates and output control signal, and the rotating speed of control compensation controlled motor 2 reaches the purpose of driving error compensation, realizes
High accuracy transmission.
The above-described embodiments merely illustrate the principles and effects of the present invention, not for the limitation present invention.It is any ripe
Know the personage of this technology all can carry out modifications and changes under the spirit and scope without prejudice to the present invention to above-described embodiment.Cause
This, those of ordinary skill in the art is complete without departing from disclosed spirit and institute under technological thought such as
Into all equivalent modifications or change, should by the present invention claim be covered.
Claims (2)
1. a kind of control method of electro-mechanical mixed precision transmission system, precision transmission system includes motor, compensation control
Motor, transmission device, detecting element and controller, the transmission device include two power and input transmission parts, the driving
Motor and compensation controlled motor are connected with two power input transmission parts respectively, and it is defeated that the detecting element is arranged on transmission device
Go out on end, the detecting element is connected with controller input, and the controller output end is connected with compensation controlled motor, and it is special
Sign is：The power that the motor provides is through one of power input transmission parts input transmission device；The detection
The reality output rotating speed of element testing transmission output, and it is sent to controller；Controller is by reality output rotating speed with managing
It is compared by output speed, calculates driving error and compensate the rotating speed of the compensation controlled motor needed for driving error, and control
System compensation controlled motor drives another power input transmission parts to carry out error compensation；The transmission device be with two from
By the differential planet transmission mechanism spent；The transmission device is that few teeth difference moves planetary wheeling mechanism, including ring gear, planet tooth
Wheel and eccentric shaft, the motor input original power by eccentric shaft, and the detecting element moves planet turbine to few teeth difference
The rotating speed of structure output is detected, and testing result is sent into controller, and the controller obtains error compensation institute through computing
After needing power value, ring gear is driven to provide error compensation power by compensating controlled motor.
2. the control method of electro-mechanical mixed precision transmission system according to claim 1, it is characterised in that：The compensation
The computational methods of the rotating speed of driving error and compensation controlled motor are as follows：
According to kinematic principle：
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Compensation controlled motor rotating speed be：
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Wherein zbFor the number of teeth of ring gear, zgFor the planetary number of teeth, n1For the rotating speed of motor, n2To compensate controlled motor
Rotating speed, ntFor theoretical output speed, nrTo survey output speed, e is compensation driving error.
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| CN201510025782.9A CN104595475B (en) | 2015-01-19 | 2015-01-19 | The control method of electro-mechanical mixed precision transmission system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105195521B (en) * | 2015-10-27 | 2017-05-10 | 中冶赛迪工程技术股份有限公司 | Transmission device capable of sharing overload |
| JP6956040B2 (en) | 2018-04-03 | 2021-10-27 | 本田技研工業株式会社 | Vehicle parking mechanism |
| 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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| CN1430002A (en) * | 2001-12-31 | 2003-07-16 | 杜有立 | Non-rotation internal teeth drived less tooth difference speed reducing mechanism |
| CN101038033A (en) * | 2006-03-17 | 2007-09-19 | 比亚迪股份有限公司 | Shifting power compensation device |
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| US4162761A (en) * | 1977-11-30 | 1979-07-31 | The United States Of America As Represented By The Department Of Health, Education And Welfare | Flow-through coil planet centrifuges with adjustable rotation/revolution of column |
| JPS5757943A (en) * | 1980-09-22 | 1982-04-07 | Hitachi Ltd | Differential platetary gear |
| CN201137676Y (en) * | 2007-12-27 | 2008-10-22 | 王有刚 | Planet row type gear stepless transmission device |
| CN100585528C (en) * | 2008-09-26 | 2010-01-27 | 浙江大学 | Control method for double motors to promote movement precision based on real-time control network |
| CN103291864A (en) * | 2012-10-12 | 2013-09-11 | 张力 | Multi-power control automatic stepless gearbox |
| CN103701368B (en) * | 2014-01-14 | 2016-03-30 | 北京理工大学 | The energy-conservation anti-backlash control method of bi-motor |
| CN204437249U (en) * | 2015-01-19 | 2015-07-01 | 中冶赛迪工程技术股份有限公司 | Electro-mechanical mixed precision transmission system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1430002A (en) * | 2001-12-31 | 2003-07-16 | 杜有立 | Non-rotation internal teeth drived less tooth difference speed reducing mechanism |
| CN101038033A (en) * | 2006-03-17 | 2007-09-19 | 比亚迪股份有限公司 | Shifting power compensation device |
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