CN109921693B - Multi-motor electric anti-backlash and automatic fault isolation method - Google Patents
Multi-motor electric anti-backlash and automatic fault isolation method Download PDFInfo
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- CN109921693B CN109921693B CN201811579329.2A CN201811579329A CN109921693B CN 109921693 B CN109921693 B CN 109921693B CN 201811579329 A CN201811579329 A CN 201811579329A CN 109921693 B CN109921693 B CN 109921693B
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Abstract
The invention is a multi-motor electric anti-backlash and automatic fault isolation method, which fully utilizes the existing driving devices on the basis of a multi-motor simultaneous driving system, divides the existing driving devices into two groups, and realizes the purpose of reducing the speed fluctuation by utilizing the dual-motor anti-backlash principle and the automatic fault isolation method in the anti-backlash process under the condition of not increasing the system cost. The method can reduce the speed fluctuation phenomenon caused by the transmission chain clearance in a certain speed precision range, and simultaneously improves the fault tolerance and reliability of the system.
Description
Technical Field
The invention discloses a multi-motor electric anti-backlash and automatic fault isolation method, and belongs to the technical field of motor motion control.
Background
The traditional measures comprise a mechanical backlash elimination method and a double-motor backlash elimination method, wherein the mechanical backlash elimination method comprises a double-gear or double-worm method and the like, and the clearance can be adjusted to a certain range through careful adjustment, but the clearance cannot be eliminated fundamentally; for a multi-motor driving system, if a traditional double-motor gap eliminating method is simply adopted, the driving system needs to be increased in multiple times, so that the relative cost is high, and the debugging is complex.
Disclosure of Invention
The invention provides a multi-motor electric gap elimination and automatic fault isolation method aiming at the defects in the prior art, and the method aims to realize the electric gap elimination control of a moving part by indirectly adopting the principle of double-motor gap elimination so as to achieve the aim of reducing the speed fluctuation at low cost, and simultaneously improve the reliability of a system by the automatic fault isolation method in the gap elimination process.
The purpose of the invention is realized by the following technical scheme:
the multi-motor electric anti-backlash and automatic fault isolation method is characterized in that the multi-motor means that more than 3 motors drive moving parts simultaneously, and the method comprises the following steps: the method comprises the following steps:
step one, multiple motor grouping
Grouping more than 3 motors, and if the number of the motors is even, dividing the motors into two groups according to the arrangement sequence, wherein the two groups are respectively an odd group of motors and an even group of motors; if the number of the motors is odd, isolating the last motor in the motor arrangement sequence as an independent control motor, and dividing the rest even motors into two groups according to the arrangement sequence, wherein the two groups are respectively an odd group motor and an even group motor;
step two, position loop operation
Subtracting the current actual position value of the moving part detected by the sensor from the target position value to obtain a position difference value, then carrying out PID (proportion integration differentiation) operation on the position difference value to obtain a position ring operation result, and taking the position ring operation result as a given value of a speed ring;
step three, rate loop operation
Subtracting the current actual speed value of the moving part detected by the sensor from the result obtained in the step two to obtain a speed difference value, then carrying out PID operation on the speed difference value to obtain a speed loop operation result, and taking the speed loop operation result as a given value of the current loop;
step four, anti-backlash operation
Respectively outputting the given value of the current loop obtained in the step three to a driver of each motor in the odd-numbered groups of motors, a driver of each motor in the even-numbered groups of motors and a driver for independently controlling the motors according to rules;
the rule is as follows: setting a given value of a current loop as x, setting an anti-backlash bias current as b and setting an anti-backlash current threshold as c; when c is going to0When c-b is more than or equal to 0, the given value of the current loop obtained by the odd-numbered group of motors is set as y1, the given value of the current loop obtained by the even-numbered group of motors is set as y2, the given value of the current loop obtained by independently controlling the motors is set as x, wherein y1 and y2 are calculated by adopting the following formulas:
and step five, the drivers of all the motors output current to the motors according to the respective obtained given values of the current loops, the motors are driven to operate, the moving parts are driven to move until the control period is finished, and then the steps two to step five are repeated until the moving parts are positioned at the target position value.
Further, when the motors in the odd groups of motors stop running, the next motor of the motors which stop running actively stops running according to the sequence; when the motors in the even-numbered groups stop operating, the motor in front of the stopped motor stops actively according to the sequence.
The technical scheme of the invention has the characteristics and advantages that:
1) the multi-motor grouping method comprises the following steps:
for a multi-motor (not less than 3) simultaneous driving system, if the number of motors is an even number, the motors sequentially arranged along the moving direction are divided into two groups, namely an odd-numbered group of motors and an even-numbered group of motors, for example, if the number of the motors is 8, the motors 1,3,5 and 7 are odd-numbered groups of motors, and the motors 2,4,6 and 8 are even-numbered groups of motors; if the number of the motors is odd, the last motor is isolated and directly controlled without participating in the anti-backlash algorithm, and the rest motors are still divided into an odd group of motors and an even group of motors, for example, if the number of the motors is 7, the 7 th motor directly performs torque control without participating in the anti-backlash algorithm, and the rest 6 motors are 1,3 and 5 odd motors and 2,4 and 6 even motors;
2) the distribution method of the given value of the current loop comprises the following steps:
the multi-motor motion control adopts a position loop, a speed loop and a current loop three-closed-loop control system, wherein a driver of each motor works in a current loop mode and receives a current loop set value of a control system controller; position loop, speed loop and anti-backlash algorithm control are realized in a control system controller; the position ring has the function of carrying out PID operation on the difference value of the position set value and the position actual value, and the operation result is used as the given value of the speed ring; the function of the speed ring is to receive the given value of the speed ring and the actual speed signal, perform PID operation on the difference value of the given value of the speed ring and the actual speed signal, and output the given value of the current ring to the anti-backlash algorithm, and the anti-backlash algorithm distributes the given value of the current ring to the drivers of the odd-numbered group of motors and the drivers of the even-numbered group of motors according to a certain rule, thereby realizing the purpose of electric backlash elimination.
The control system is shown in a schematic block diagram in fig. 1. Wherein G iscp(s) is position loop controlMaking devices, Gcv(s) is the rate loop controller, and the current loop setpoint distribution curve is shown in FIG. 2.
The action mechanism of the algorithm is as follows: during initial positioning, the currents of the two groups of motors are small, the odd groups of motors apply positive torque, and the even groups of motors apply negative torque, so that a transmission chain has no gap; when the motor starts to move towards the positive direction, x is gradually increased from 0, the currents of the motors in the odd groups start to increase, meanwhile, the currents of the motors in the even groups gradually change from negative values to positive values, if the given values of the current loops are larger than the gap eliminating current threshold, the set values of the current loops of the two groups of motors are the same, the two groups of motors simultaneously drive the rotary table to move, and vice versa, so that the purpose of eliminating gaps is achieved.
3) Method of automatic fault isolation.
When one or more motors have faults, the motors in the group are powered off and isolated according to the corresponding relation of (1,2), (3,4), (5,6), (7,8) …, if the total torque of the rest motors can still normally drive the rotary table to operate, the anti-backlash algorithm is normally used, otherwise, the anti-backlash algorithm does not work. The automatic fault isolation method fully utilizes the driving capability of the turntable motor, improves the fault tolerance and the reliability of the system while improving the moving performance of the system,
on the basis of a multi-motor simultaneous driving system, the invention fully utilizes the existing driving devices to divide the existing driving devices into two groups, and realizes the purpose of reducing the speed fluctuation by utilizing the dual-motor gap eliminating principle and the automatic fault isolation method in the gap eliminating process under the condition of not increasing the system cost. The method can reduce the speed fluctuation phenomenon caused by the transmission chain clearance in a certain speed precision range, and simultaneously improves the fault tolerance and reliability of the system.
FIG. 1 is a schematic block diagram of a control system for the method of the present invention
FIG. 2 is a distribution curve of a given value of a current loop in the method of the present invention
FIG. 3 is a flow chart of control software implementing the method of the present invention
Detailed Description
The technical scheme of the invention is further detailed in the following by combining the drawings and the embodiment:
referring to fig. 1-2, in this embodiment, a large rotating turntable is taken as an example, the turntable is driven by 9 motors, the 9 motors are sequentially arranged along a circular track with a diameter of 20 meters, a servo motor is connected with wheel shafts of 9 rollers through a coupling and a reducer, and the turntable can be driven to rotate by a minimum of 6 motors; the method of the invention is to realize the work of the control system controller by software programming, the flow of the software is shown in figure 3, the software is stored in the control system controller, the control system controller is an industrial personal computer or a PLC programmable logic controller, and the method of the invention is adopted to realize the backlash elimination and the fault isolation by the following steps:
the first step is as follows: and (4) grouping a plurality of motors.
1,3,5 and 7 are divided into an odd number group, 2,4,6 and 8 are divided into an even number group, and (1,2) (3,4) (5,6) (7 and 8) are set into 4 corresponding groups, and the 9 th motor is an independently controlled motor and does not participate in the anti-backlash algorithm.
The second step is that: position loop operation
Subtracting the current actual position value of the moving part detected by a sensor from the target position value, such as 0.01 degrees, to obtain a position difference value, then carrying out PID (proportion integration differentiation) operation on the position difference value to obtain a position ring operation result, and taking the position ring operation result as a given value of a speed ring; corresponding to part i in fig. 3;
third, rate loop operation
Subtracting the current actual speed value of the moving part detected by the sensor from the result obtained in the second step to obtain a speed difference value, then carrying out PID operation on the speed difference value to obtain a speed loop operation result, and taking the speed loop operation result as a given value of the current loop; corresponding to section ii in fig. 3;
the fourth step: current loop setpoint assignment. First, the anti-backlash bias current b is set to 1A, and the anti-backlash threshold c is set to 3A. The principle of the selection of the anti-backlash bias current is as follows: under the condition that the gap eliminating bias current is introduced into the motor, the motor can overcome the friction force of the transmission chain to ensure that the transmission chain has no gap; selection principle of anti-backlash threshold current: under the condition that starting current is introduced into each motor, the total driving torque of each motor can start the rotary table to operate, the anti-backlash threshold current is the starting current plus the anti-backlash bias current, so that the anti-backlash threshold current needs to be larger than the anti-backlash bias current, and the difference value c 0-c-b-2A; secondly, according to the formulas (1) - (4), two groups of different values are obtained by judging the section where the current loop given value x is located, and the two groups of different values are respectively output to the odd-group motor driver and the even-group motor driver, for example, if x is 0, y1 is 1, and y2 is-1; when y9 is set to x; in other cases, calculation is carried out according to a formula; corresponding to part iii of fig. 3;
the fifth step: drivers of all the motors output current to the motors according to the respective obtained given values of the current loops, and the motors are driven to operate to drive the moving parts to move; corresponding to part iv in fig. 3;
and a sixth step: automatically isolating and judging faults; when the control period is finished, repeating the second step to the fifth step until the moving part is positioned at the target position value; corresponding to section v of figure 3.
The automatic fault isolation judgment process comprises the following steps: in the operation process, if a certain motor stops running, the automatic isolation method comprises the following steps of firstly judging the number of failed motors: if 1 stall occurs, the group or the motor is isolated first, if one of 1,2,3,4,5,6,7,8, the corresponding group is isolated, for example, (1,2), if 9 th, the ninth is isolated directly.
If 2 motors stop rotating and the two motors are a pair of corresponding groups, namely (1,2) (3,4) (5,6) (7,8), isolating the corresponding group and continuing to operate; if the two motors are in the two corresponding groups, stopping the system to prompt a fault; if one is in a corresponding group and the other is the 9 th motor, the corresponding group and the 9 th motor are isolated and continue to operate.
If 3 motors stop rotating, if two motors are in a corresponding group and one motor is the 9 th motor, the system continues to operate; otherwise, the system stops running and prompts a fault;
and if the number of the stalling motors is more than 3, stopping the system to prompt faults.
Claims (2)
1. A multi-motor electric gap eliminating and automatic fault isolating method is disclosed, wherein the multi-motor means that more than 3 motors drive moving parts simultaneously, and the method is characterized in that: the method comprises the following steps:
step one, multiple motor grouping
Grouping more than 3 motors, and if the number of the motors is even, dividing the motors into two groups according to the arrangement sequence, wherein the two groups are respectively an odd group of motors and an even group of motors; if the number of the motors is odd, isolating the last motor in the motor arrangement sequence as an independent control motor, and dividing the rest even motors into two groups according to the arrangement sequence, wherein the two groups are respectively an odd group motor and an even group motor;
step two, position loop operation
Subtracting the current actual position value of the moving part detected by the sensor from the target position value to obtain a position difference value, then carrying out PID (proportion integration differentiation) operation on the position difference value to obtain a position ring operation result, and taking the position ring operation result as a given value of a speed ring;
step three, rate loop operation
Subtracting the current actual speed value of the moving part detected by the sensor from the result obtained in the step two to obtain a speed difference value, then carrying out PID operation on the speed difference value to obtain a speed loop operation result, and taking the speed loop operation result as a given value of the current loop;
step four, anti-backlash operation
Respectively outputting the given value of the current loop obtained in the step three to a driver of each motor in the odd-numbered groups of motors, a driver of each motor in the even-numbered groups of motors and a driver for independently controlling the motors according to rules;
the rule is as follows: setting a given value of a current loop as x, setting an anti-backlash bias current as b and setting an anti-backlash current threshold as c; the principle of the selection of the anti-backlash bias current is as follows: under the condition that the gap eliminating bias current is introduced into the motor, the motor can overcome the friction force of the transmission chain to ensure that the transmission chain has no gap; selection principle of anti-backlash threshold current: under the condition that starting current is introduced into each motor, the total driving torque of each motor can start the rotary table to run, and the anti-backlash threshold current is the starting current plus the anti-backlash bias current, so that the anti-backlash threshold current needs to be larger than the anti-backlash bias current;
when c0 is not less than 0, setting the given value of the current loop obtained by the odd-numbered group of motors as y1, setting the given value of the current loop obtained by the even-numbered group of motors as y2, and setting the given value of the current loop obtained by independently controlling the motors as x, wherein y1 and y2 are calculated by adopting the following formulas:
obtaining two groups of different values by judging the interval of the given value x of the current loop, and respectively outputting the two groups of different values to the odd group of motors and the even group of motor drivers;
step five, the drivers of all the motors output current to the motors according to the respective obtained given values of the current loops, the motors are driven to operate, the moving parts are driven to move until the control period is finished, and then the steps two to five are repeated until the moving parts are positioned at the target position value;
step six: automatically isolating and judging faults;
the automatic fault isolation judgment process comprises the following steps: in the operation process, if a certain motor stops running, the automatic isolation method comprises the following steps of firstly judging the number of failed motors: if 1 motor stops rotating, firstly isolating the group or the single control motor;
if 2 motors stop rotating and the 2 motors are corresponding groups, isolating the corresponding groups and continuing to operate; if the 2 motors are in two corresponding groups, stopping the system to prompt a fault; if one motor is in a corresponding group and the other motor is independently controlled, isolating the corresponding group from the independently controlled motor and continuing to operate;
if 3 motors stop rotating, if 2 motors are in a corresponding group and one motor is independently controlled, the system continues to operate; otherwise, the system stops running and prompts a fault;
and if the number of the stalling motors is more than 3, stopping the system to prompt faults.
2. A multi-motor electrical anti-backlash and automatic fault isolation method according to claim 1, characterized in that: when the motors in the odd groups of motors stop running, the next motor of the stopped motors actively stops running according to the sequence; when the motors in the even-numbered groups stop operating, the motor in front of the stopped motor stops actively according to the sequence.
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| CN102820839A (en) * | 2011-06-10 | 2012-12-12 | 北京理工大学 | Precision positioning method for motor servo system in backlash transmission |
| CN102904494A (en) * | 2012-11-12 | 2013-01-30 | 中国电子科技集团公司第五十四研究所 | Multi-motor synchronous anti-backlash method |
| 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 |
| CN205001492U (en) * | 2015-09-23 | 2016-01-27 | 路斯特运动控制技术（上海）有限公司 | Electric synchronous backlash eliminating equipment of RPDC |
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