CN114123905B - Electric anti-backlash control method based on analog circuit and AC/DC servo system - Google Patents
Electric anti-backlash control method based on analog circuit and AC/DC servo system Download PDFInfo
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- 238000010586 diagram Methods 0.000 description 4
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- 238000005259 measurement Methods 0.000 description 2
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Classifications
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
-
- 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
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Multiple Motors (AREA)
Abstract
The invention discloses an electric anti-backlash control method based on an analog circuit and an alternating current-direct current servo system, wherein two paths of speed voltage feedback signals are subjected to speed feedback voltage signal conditioning circuits to generate a correction signal, the correction signal is subtracted from an upper computer speed command signal to generate a command deviation signal, then a speed loop PID (proportion integration differentiation) setting circuit is used for generating a load current command signal, and the load current command signal is subjected to bias torque generating circuit to generate a bias torque signal which is respectively added with two load current command signals with equal size and opposite sign to finally generate two paths of driver current loop command signals for controlling two paths of alternating current (direct current) servo driving. The invention is simultaneously suitable for AC and DC motor drivers, does not need to be provided with a communication link and an additional mechanical gap eliminating device, has no bandwidth limitation caused by a digital loop, and obviously improves the dynamic response performance of the load and the system stability.
Description
Technical Field
The invention relates to the technical field of analog circuits and automatic control, in particular to a load system with double motors or multiple motor drive, such as a turntable, an antenna, a radar servo control system, a wind driven generator yaw system and the like.
Background
In a large gear transmission structure, the control of backlash directly influences the dynamic response characteristic of a load, and common backlash eliminating methods comprise mechanical backlash eliminating and electric backlash eliminating. The mechanical clearance elimination needs to add a preload torque spring in the structure, the structure is complex, the maintenance is difficult, and the actual effect is often not ideal. The electric gap eliminating method is widely used in the form of double-motor stress bias, so that the double motors generate a butt moment to eliminate the gap, and various specific implementation methods are available.
The method for controlling the electric anti-backlash of the alternating current driving analog circuit is as follows in Chinese patent application number: CN200920232354.3, filing date: 29 days of 2009, 9 months, patent name: a double-motor anti-backlash control device of an alternating current servo system. The method adopts a method of adding bias moment to an analog circuit to realize the elimination of gaps. The current-voltage signal to be collected is more, and the current loop of the driver is required to be provided with an interface for adding the bias moment, but most drivers at present are not provided with the interface, and the slave driver is provided with no current loop due to master-slave control, so that when the load is unbalanced or the loop disturbance is large, two motors are opposite to each other or one motor is dragged to one motor, and the maximum efficiency and the dynamic performance of the double motors cannot be exerted.
The alternating current driving digital electric gap eliminating control method is as follows in Chinese patent application number: CN201520017342.4, filing date: 1 month 12 days 2015, the patent name is: a digital electric anti-backlash control system based on alternating current driving. The method has the advantages that the digital control of the loop is realized, and the debugging is convenient; the disadvantage is that the speed controller is added as a hardware device, meanwhile, the requirement on hardware configuration is higher, the driver is required to be provided with a high-speed communication interface, and the digital speed loop bandwidth is limited due to the limitation of the communication speed, so that the dynamic performance of the load can be influenced.
The above two patents only discuss the backlash eliminating method based on the ac servo, but neglect the problem of backlash elimination of the gears of the dc servo control system. In many fields such as antenna, radar, fan driftage, because of the 360 unlimited rotations that the load needs, the slip ring is often used to structural part, and the interference of alternating current servo system to the slip ring is far more than direct current servo system, therefore direct current servo system still is in a large amount of use.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide an electric anti-backlash control method based on an analog circuit and an alternating current-direct current servo system. The invention is simultaneously suitable for AC and DC motor drivers, does not need to be provided with a communication link and an additional mechanical gap eliminating device, has no bandwidth limitation caused by a digital loop, and obviously improves the dynamic response performance of the load and the system stability.
The technical scheme adopted by the invention is as follows: an electric anti-backlash control method based on an analog circuit and an AC/DC servo system is characterized in that: the device comprises a rotating speed feedback voltage signal conditioning circuit, a speed loop instruction correction circuit, a speed loop PID setting circuit, a bias moment generating circuit, an inverting circuit, a first driver current loop instruction generating circuit and a second driver current loop instruction generating circuit; three voltage input signals and two voltage output signals, the voltage input signals are respectively: the upper computer speed command signal, the first motor rotating speed feedback signal and the second motor rotating speed feedback signal, and the voltage output signals are respectively: a first driver current loop command signal and a second driver current loop command signal; the method is characterized in that:
the first motor rotating speed feedback signal and the second motor rotating speed feedback signal generate a speed command correction signal through a rotating speed feedback voltage signal conditioning circuit, and the speed command correction signal is subtracted by the speed command signal of the upper computer to generate a command deviation signal; the command deviation signal is used as the input of a speed loop PID setting circuit, and a load current command signal is generated after passing through the speed loop PID setting circuit and is divided into three paths: the first path goes to a bias moment generating circuit and generates a bias moment signal after passing through a trapezoidal function generator; the second path directly goes to the first driver current loop command generating circuit and sums with the bias torque signal to be used as a first driver current loop control command signal; the third path is reversely and backward sent to the second driver current loop instruction generating circuit through the reverse circuit and summed with the bias torque signal to be used as a second driver current loop control instruction signal, and the two paths of driver current loop instruction signals are used for controlling two paths of alternating current and direct current servo driving.
Further, the rotating speed feedback voltage signal conditioning circuit is an adder, and the adder adds the first motor rotating speed feedback signal and the second motor rotating speed feedback signal to obtain an average value to obtain a speed command correction signal.
Further, the speed loop command correction circuit is a subtracter, and the subtracter subtracts the speed command correction signal generated by the rotating speed feedback voltage signal conditioning circuit from the speed command signal of the upper computer to obtain a command deviation signal.
Further, the speed loop PID setting circuit is a proportional integral derivative circuit, and the command deviation signal generated by the speed loop command correction circuit generates a load current command signal after passing through the proportional integral derivative circuit.
Further, the bias moment generating circuit is a trapezoidal function generator, and the load current command signal generated by the speed loop PID setting circuit generates a bias moment signal after passing through the function generator.
Further, the first driver current loop command generating circuit and the second driver current loop command generating circuit are both addition circuits, and the first driver current loop command generating circuit adds the load current command signal and the bias torque signal to generate a current loop control command signal of the first driver; the second driver current loop command generating circuit adds the load current command signal and the bias torque signal after the reverse direction through the reverse phase circuit to generate a current loop control command signal of the second driver.
Further, the output signal of the reversing circuit is equal to the input signal in magnitude and opposite in direction.
Further, when the speed measuring device is a direct current speed measuring machine, the two motor rotating speed feedback voltage signal input ports are directly connected with the output of the direct current speed measuring machine; when the speed measuring device is an encoder, the two motor rotating speed feedback voltage signal input ports are connected with a driver, and the driver collects encoder data and outputs motor rotating speed feedback voltage signals.
Further, the first driver current loop command signal and the second driver current loop command signal output by the first driver current loop command generating circuit and the second driver current loop command generating circuit are respectively connected with current loop command input ports of the two drivers; both drivers only need the current loop to operate and the speed loop is set to disabled.
Further, the rotating speed feedback voltage signal conditioning circuit, the speed loop instruction correction circuit, the speed loop PID setting circuit, the bias moment generating circuit, the inverting circuit, the first driver current loop instruction generating circuit and the second driver current loop instruction generating circuit are all analog circuits.
The invention can process the rotation speed feedback signals of different forms of AC and DC servo systems, does not need a communication link, has low requirements on hardware configuration, can adapt to most AC and DC servo systems, has simple circuit and fewer interfaces, only collects two paths of rotation speed voltage signals, and meanwhile, the electric anti-backlash control device adopts a speed loop and a trapezoidal function bias moment generator, so that motor centering can not occur while electric anti-backlash is realized, and the system is more stable.
The beneficial effects achieved by the invention are as follows:
1. the rotating speed feedback voltage signal conditioning circuit can adapt to different motor rotating speed acquisition modes, so that the device can be simultaneously applied to an alternating current and direct current servo driving system, the application range is wider, and the practicability is stronger;
2. the input of the bias moment generating circuit uses a load current instruction signal generated by an internal circuit of the device, and motor current does not need to be acquired, so that an interface of the device is simpler, and a system is simplified;
3. the analog circuit device with the speed loop is used, the loop bandwidth and the dynamic performance are not affected, and the two drivers share one speed loop, so that the phenomenon of motor opposite vertex is avoided, and the system is more stable and reliable;
4. the servo control system using the device for eliminating the gap does not need a high-speed communication link, only uses a driver current loop, has low requirements on the hardware configuration of the driver, and has stronger applicability.
Drawings
Fig. 1 is a schematic block diagram of an electrical anti-backlash control device.
Fig. 2 is a schematic diagram of a tachometer electrical anti-backlash control system.
Fig. 3 is a schematic diagram of an encoder speed measurement electrical anti-backlash control system.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by a person of ordinary skill in the art based on the examples of the invention without any inventive effort, are within the scope of the invention.
FIG. 1 is a schematic block diagram of an electric anti-backlash control device according to the present invention, which comprises a rotational speed feedback voltage signal conditioning circuit, a speed loop command correction circuit, a speed loop PID setting circuit, a bias moment generating circuit, an inverter circuit, a first driver current loop command generating circuit, and a second driver current loop command generating circuit; meanwhile, the device is provided with three voltage input signals and two voltage output signals, wherein the voltage input signals are respectively: the upper computer speed command signal, the first motor rotating speed feedback signal and the second motor rotating speed feedback signal, and the voltage output signals are respectively: a first driver current loop command signal and a second driver current loop command signal; u (U) 0 、U 1 、U 2 For the input voltage signal of the device, U i1 、U i2 Is the output voltage signal of the device. Wherein U is 0 U is a speed command signal transmitted by an upper computer 1 、U 2 The motor rotation speed feedback signals are respectively #1 and #2 motor rotation speed feedback signals in an alternating current and direct current servo control system.
As shown in fig. 2 and 3, when the measurement modes of the motor rotation speed are different, U 1 、U 2 The acquisition mode of (a) is also different. When the rotating speed of the motor is measured by the direct current velometer, the direct current velometer directly outputs a voltage signal in direct proportion to the rotating speed and can be directly connected to the electric anti-backlash control device; when the motor speed is measured by the encoder, the encoder is directly connected withThe driver reads the rotating speed signal and outputs the rotating speed to the electric anti-backlash control device through a voltage signal. U (U) i1 、U i2 The current loop command signals are respectively connected to the #1 and #2 drivers and used as the #1 and #2 drivers, and the speed loops of the #1 and #2 drivers are all disabled and only the current loops are enabled.
As shown in fig. 1, U 1 、U 2 Summing in a speed-feedback voltage-conditioning signal circuit, i.e.n is an adjustment coefficient, which is adjusted by a variable resistor, and which outputs a correction value as a speed command. Speed command U sent by upper computer 0 Subtracting the correction value to generate a command deviation voltage signal, wherein the deviation voltage signal is used as the input of a speed loop PID setting circuit, and a load current command signal is generated after passing through the PID setting circuit, and the command is divided into three paths: the first path goes to a bias moment generating circuit and generates a bias moment signal after passing through a trapezoidal function generator; the second path is directly sent to the #1 driver current loop command generating circuit to be summed with the bias torque signal as a #1 driver current loop control command signal U i1 The method comprises the steps of carrying out a first treatment on the surface of the The third path is reversed and then is sent to the #2 driver current loop command generating circuit to be summed with the bias torque signal to be used as a #2 driver current loop control command signal U i2 。
The inverter is used for reversing the control command of the #2 driver, and the control command of the #1 driver is opposite in sign, but the output direction of the motor is consistent due to the gear mounting direction.
The bias torque generating circuit is a trapezoidal function generator, and is used for generating a bias torque signal according to the load size, and the summation of the control instructions of the #1 and #2 drivers is one plus or one minus because the control instructions of the #1 and #2 drivers are opposite in sign, so that two motors can generate a torque deviation, one dragging one walking, the gear is prevented from moving in a gear gap, and the gear gap is eliminated.
The trapezoidal function generator generates a constant moment bias signal when the load is small, and when the load is not loaded, namely the motors do not rotate, the moment bias signal is the instruction of the two motors, the two motors are equal in size, so that the two motors are in a opposite-top state, no tooth gap exists, and the load is kept motionless and stable; when the load is smaller and within the threshold range, the magnitude of the moment offset signal is unchanged, the summation operation of the load current command and the moment offset signal of the two motors is one addition and one subtraction, the output of the two motors is one large and one small, and one motor drags the other motor to walk, and no tooth gap exists; as the load increases beyond the threshold range, the torque bias signal decreases from a constant value to zero, the output forces of the two motors gradually tend to be consistent, the motor with high output force still pushes against the gear to run at first, the motor with low output force is dragged first, then moves between the tooth gaps, finally moves to the other side of the tooth gaps, finally, the motor with high output force is the same as the motor with high output force at first, and the motor with high output force is dragged together to run in a load mode so as to achieve maximum efficiency. In all states of the motors, at least one motor always runs against the gear, so that the purpose of eliminating gaps is achieved.
The foregoing is merely a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions easily conceivable by those skilled in the art within the technical scope of the present invention should be included in the scope of the present invention.
Claims (10)
1. The electric anti-backlash control method based on analog circuit and AC/DC servo system includes rotating speed feedback voltage signal conditioning circuit, speed loop command correcting circuit, speed loop PID setting circuit, bias moment generating circuit, inverting circuit, first driver current loop command generating circuit and second driver current loop command generating circuit; three voltage input signals and two voltage output signals, the voltage input signals are respectively: the upper computer speed command signal, the first motor rotating speed feedback signal and the second motor rotating speed feedback signal, and the voltage output signals are respectively: a first driver current loop command signal and a second driver current loop command signal; the method is characterized in that:
the first motor rotating speed feedback signal and the second motor rotating speed feedback signal generate a speed command correction signal through a rotating speed feedback voltage signal conditioning circuit, and the speed command correction signal is subtracted by the speed command signal of the upper computer to generate a command deviation signal; the command deviation signal is used as the input of a speed loop PID setting circuit, and a load current command signal is generated after passing through the speed loop PID setting circuit and is divided into three paths: the first path goes to a bias moment generating circuit and generates a bias moment signal after passing through a trapezoidal function generator; the second path directly goes to the first driver current loop command generating circuit and sums with the bias torque signal to be used as a first driver current loop control command signal; the third path is reversely and backward sent to the second driver current loop instruction generating circuit through the reverse circuit and summed with the bias torque signal to be used as a second driver current loop control instruction signal, and the two paths of driver current loop instruction signals are used for controlling two paths of alternating current and direct current servo driving.
2. The method for controlling the electric anti-backlash based on the analog circuit and the alternating current-direct current servo system according to claim 1, wherein the method comprises the following steps of: the rotating speed feedback voltage signal conditioning circuit is an adder, and the adder adds the first motor rotating speed feedback signal and the second motor rotating speed feedback signal to obtain an average value to obtain a speed command correction signal.
3. The method for controlling the electric anti-backlash based on the analog circuit and the alternating current-direct current servo system according to claim 1, wherein the method comprises the following steps of: the speed loop instruction correction circuit is a subtracter, and the subtracter method is that a speed instruction correction signal generated by the rotating speed feedback voltage signal conditioning circuit is subtracted from a speed instruction signal of the speed machine to obtain an instruction deviation signal.
4. The method for controlling the electric anti-backlash based on the analog circuit and the alternating current-direct current servo system according to claim 1, wherein the method comprises the following steps of: the speed loop PID setting circuit is a proportional integral derivative circuit, and the instruction deviation signal generated by the speed loop instruction correction circuit generates a load current instruction signal after passing through the proportional integral derivative circuit.
5. The method for controlling the electric anti-backlash based on the analog circuit and the alternating current-direct current servo system according to claim 1, wherein the method comprises the following steps of: the bias moment generating circuit is a trapezoidal function generator, and the load current command signal generated by the speed loop PID setting circuit generates a bias moment signal after passing through the function generator.
6. The method for controlling the electric anti-backlash based on the analog circuit and the alternating current-direct current servo system according to claim 1, wherein the method comprises the following steps of: the first driver current loop instruction generating circuit and the second driver current loop instruction generating circuit are both addition circuits, and the first driver current loop instruction generating circuit adds a load current instruction signal and a bias torque signal to generate a current loop control instruction signal of the first driver; the second driver current loop command generating circuit adds the load current command signal and the bias torque signal after the reverse direction through the reverse phase circuit to generate a current loop control command signal of the second driver.
7. The method for controlling the electric anti-backlash based on the analog circuit and the alternating current-direct current servo system according to claim 1, wherein the method comprises the following steps of: the output signal of the reversing circuit is equal to the input signal in size and opposite in direction.
8. The method for controlling the electric anti-backlash based on the analog circuit and the alternating current-direct current servo system according to claim 1, wherein the method comprises the following steps of: when the speed measuring device is a direct current speed measuring machine, the two motor rotating speed feedback voltage signal input ports are directly connected with the output of the direct current speed measuring machine; when the speed measuring device is an encoder, the two motor rotating speed feedback voltage signal input ports are connected with a driver, and the driver collects encoder data and outputs motor rotating speed feedback voltage signals.
9. The method for controlling the electric anti-backlash based on the analog circuit and the alternating current-direct current servo system according to claim 1, wherein the method comprises the following steps of: the first driver current loop instruction signal and the second driver current loop instruction signal output by the first driver current loop instruction generating circuit and the second driver current loop instruction generating circuit are respectively connected with current loop instruction input ports of the two drivers; both drivers only need the current loop to operate and the speed loop is set to disabled.
10. The method for controlling the electric anti-backlash based on the analog circuit and the alternating current-direct current servo system according to claim 1, wherein the method comprises the following steps of: the rotating speed feedback voltage signal conditioning circuit, the speed loop instruction correction circuit, the speed loop PID setting circuit, the bias moment generating circuit, the inverting circuit, the first driver current loop instruction generating circuit and the second driver current loop instruction generating circuit are all analog circuits.
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| CN101697465A (en) * | 2009-09-29 | 2010-04-21 | 扬州曙光光电自控有限责任公司 | Double-motor backlash eliminating control device for alternating current servo system |
| CN203504458U (en) * | 2013-10-28 | 2014-03-26 | 扬州曙光光电自控有限责任公司 | AC servo driver with anti-backlash control and master-slave control |
| CN103701368A (en) * | 2014-01-14 | 2014-04-02 | 北京理工大学 | Dual-motor energy-saving anti-backlash control method |
| CN103744439A (en) * | 2014-01-21 | 2014-04-23 | 南京理工大学 | Multi-motor anti-backlash drive control system |
| 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 |
| CN108092561A (en) * | 2016-11-23 | 2018-05-29 | 中国工程物理研究院电子工程研究所 | A kind of Dual-Servo Motor of full digital disappears slot sytem and its control method |
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2021
- 2021-11-16 CN CN202111351237.0A patent/CN114123905B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101697465A (en) * | 2009-09-29 | 2010-04-21 | 扬州曙光光电自控有限责任公司 | Double-motor backlash eliminating control device for alternating current servo system |
| CN203504458U (en) * | 2013-10-28 | 2014-03-26 | 扬州曙光光电自控有限责任公司 | AC servo driver with anti-backlash control and master-slave control |
| 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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