CN116436343B - Motor control method and system based on non-whole gear ring double-gear meshing mechanism - Google Patents
Motor control method and system based on non-whole gear ring double-gear meshing mechanism Download PDFInfo
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- CN116436343B CN116436343B CN202310707463.0A CN202310707463A CN116436343B CN 116436343 B CN116436343 B CN 116436343B CN 202310707463 A CN202310707463 A CN 202310707463A CN 116436343 B CN116436343 B CN 116436343B
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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
- 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
- H02P5/48—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 by comparing mechanical values representing the speeds
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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Abstract
The invention discloses a motor control method and a motor control system based on a non-whole gear ring double-gear meshing mechanism, which relate to the technical field of motors and comprise the following steps: detecting the load states and the rotating speeds of the two motors in real time; when the loads of the two motors are the same, acquiring the relative angular position relationship of the two motors to serve as an initial relative angular position relationship; when one of the gears is separated from the gear ring, a first bias current is applied to the low-load motor to reduce the rotating speed, and a second bias current is applied to the high-load motor to increase the torque until the rotating speed of the low-load motor is the same as that of the high-load motor and the relative angular position relation is restored to the initial relative angular position relation. Therefore, through the action of the first bias current and the second bias current, the running states of the two motors can be adjusted simultaneously so as to control the rotating speeds of the two motors, correct the angular displacement of the low-load motor relative to the high-load motor, and enable the gear to smoothly form stable meshing with the gear ring again after passing through the notch part of the gear ring, thereby preventing collision accidents.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a motor control method based on a non-whole gear ring double-gear meshing mechanism. The invention also relates to a motor control system based on the non-whole gear ring double-gear meshing mechanism.
Background
With the continuous development of the pipeline welding technology, the continuous progress of the pipeline automatic welding technology and equipment is promoted.
At present, a pipeline welding trolley with partial automatic control appears on the market, when welding operation is performed, only the welding trolley is required to be fixed on a pipeline, and then a rotating mechanism on the welding trolley is utilized to drive parts such as a welding gun to circumferentially rotate around the pipeline so as to adjust the angle position of the welding gun, so that multi-angle and multi-azimuth automatic welding operation can be realized. The rotating mechanism on the partial welding trolley is a single motor gear-ring transmission mechanism, namely, a single motor drives a gear to rotate, and then the welding gun is driven to rotate through the meshing between the gear and the gear ring. However, because the pipeline generally links up end to end, lead to the ring gear to be unable to set up into complete ring gear, but have notched non-whole ring gear, so as to block on the pipeline, the installation and the dismantlement of whole welding dolly of being convenient for, consequently, when single motor drive gear rotated and reached the breach of ring gear, the gear can't continue to rotate, lead to welder can't continue to operate, must dismantle the welding dolly from the pipeline back again and block, the welding operation is carried out again after adjusting fixed angle position, so cause single motor gear ring gear drive mechanism often can only drive welder rotation limited angle once, can't realize carrying out continuous welding operation to the girth weld on the pipeline.
As an improvement, in the prior art, a double-motor gear-ring gear transmission mechanism appears, as shown in fig. 1, two motors, namely a motor a and a motor B, are simultaneously arranged on a rotating mechanism of a welding carriage, the output shafts of the two motors are connected with gears, and a fixed gear ring arranged on the welding carriage is a non-whole gear ring with a notch. Thus, during the welding operation, when the rotating mechanism rotates, both motors pass through the opening part of the gear ring successively, for example, when the rotating mechanism rotates anticlockwise, in the initial stage, both the motor A and the motor B are meshed with the gear ring; when the rotating mechanism rotates for a certain angle, the motor A is separated from the gear ring and enters the notch part of the gear ring, the corresponding gear idles and does not mesh with the gear ring, and only the motor B is still meshed with the gear ring; when the rotating mechanism continues to rotate, the motor A rotates to the other end of the notch of the gear ring and is meshed with the gear ring again until the motor B is separated from the gear ring; when the rotating structure continues to rotate again, the motor B also passes through the notch part of the gear ring and is meshed with the gear ring again until the two motors rotate to the initial position, and the welding process is finished, so that 360-degree rotating movement of the welding gun is realized.
However, in the gear ring transmission mechanism with double motor gears on the welding trolley in the prior art, although 360 degrees of rotation of a welding gun can be realized, when one gear is transited from a notch part of the gear ring to a solid part with teeth, as the other gear still keeps meshed with the gear, the gear ring transmission mechanism has a specific meshing state, such as a specific rotating speed, a specific angle position and the like, and when the first gear is in the notch part of the gear ring, parameters such as the rotating speed, the angle position and the like possibly caused by the change of the running state of a motor are different from the state of the other gear, so that stable meshing cannot be successfully formed with the solid part of the gear ring again, and collision accidents such as tooth collision, tooth clamping, vibration and the like can occur during the transition.
Therefore, how to enable the gear to form stable engagement with the gear ring again after passing through the notch part of the gear ring, so as to prevent collision accidents is a technical problem faced by the person skilled in the art.
Disclosure of Invention
The invention aims to provide a motor control method based on a double-gear meshing mechanism of an incomplete gear ring, which can enable gears to form stable meshing with the gear ring again after passing through a notch part of the gear ring, so as to prevent collision accidents. It is another object of the present invention to provide a motor control system based on a non-whole ring gear double gear engagement mechanism.
In order to solve the technical problems, the invention provides a motor control method based on a non-whole gear ring double-gear meshing mechanism, which comprises the following steps:
detecting the load states and the rotating speeds of the two motors in real time;
when the loads of the two motors are the same, acquiring the relative angular position relationship of the two motors to serve as an initial relative angular position relationship;
when one of the gears is separated from the gear ring, a first bias current is applied to the low-load motor to reduce the rotating speed, and a second bias current is applied to the high-load motor to increase the torque until the rotating speed of the low-load motor is the same as that of the high-load motor and the relative angular position relation is restored to the initial relative angular position relation;
the motor corresponding to the gear which is separated from the gear ring at present is the low-load motor, and the motor corresponding to the other gear at present is the high-load motor; the first bias current is opposite in direction to the second bias current.
Preferably, the first bias current is applied to the low-load motor, specifically including:
by the formula:
calculating a first bias current and applying the first bias current to the low-load motor;
wherein I is 1 For the first bias current, I b For biasing current constant, v 1 Is the real-time load detection value, v of the low-load motor 0 The load of the two motors is balanced when the two gears are meshed with the gear ring.
Preferably, the second bias current is applied to the high-load motor, specifically including:
by the formula:
calculating a second bias current and applying the second bias current to the high-load motor;
wherein I is 2 For the second bias current, I b For biasing current constant, v 2 Is the real-time load detection value, v of the high-load motor 0 The load of the two motors is balanced when the two gears are meshed with the gear ring.
Preferably, the method for detecting the load states of the two motors in real time specifically comprises the following steps:
and detecting the load states of the motors corresponding to the motors in real time through load sensors respectively arranged on the two motors.
Preferably, detecting the rotational speeds of the two motors in real time specifically includes:
and detecting the rotating speeds of the motors corresponding to the motors in real time through the velocimeters respectively arranged in the two motors.
Preferably, acquiring the relative angular position relationship of the two motors specifically includes:
and detecting the initial angles of the rotating shafts of the motors through absolute value encoders respectively arranged on the two motors, and calculating the difference value of the initial angles of the two rotating shafts.
The invention also provides a motor control system based on the non-whole gear ring double-gear meshing mechanism, which comprises:
the first detection module is used for detecting the load states of the two motors in real time;
the second detection module is used for detecting the rotation speeds of the two motors in real time;
the third detection module is used for acquiring the relative angular position relation of the two motors when the loads of the two motors are the same, and taking the relative angular position relation as an initial relative angular position relation;
the control module is used for applying a first bias current to the low-load motor to reduce the rotating speed when one gear is separated from the gear ring, and applying a second bias current to the high-load motor to increase the torque until the rotating speed of the low-load motor is the same as that of the high-load motor and the relative angular position relation is restored to the initial relative angular position relation;
the motor corresponding to the gear which is separated from the gear ring at present is the low-load motor, and the motor corresponding to the other gear at present is the high-load motor; the first bias current is opposite in direction to the second bias current.
Preferably, the control module includes:
a first current controller for applying a first bias current to the low-load motor;
and the second current controller is used for applying a second bias current to the high-load motor.
Preferably, the control module further comprises:
a first speed controller for controlling the rotational speed of the low-load motor;
and the second speed controller is used for controlling the rotating speed of the high-load motor.
Preferably, the first detection module is a load sensor arranged on each motor, the second detection module is a velometer arranged in each motor, and the third detection module comprises an absolute value encoder arranged on each motor and a difference value calculator connected with each absolute value encoder in a signal mode.
The motor control method based on the non-integral gear ring double-gear meshing mechanism mainly comprises three steps, wherein in the first step, the main content is to detect the load states and the rotating speeds of two motors in real time so as to judge the running states of the two motors and the rotating states of two gears. In the second step, when the loads of the two motors are detected to be the same, the relative angular position relationship of the two motors is acquired as the initial relative angular position relationship. Since the loads of the motors are different when the gears are meshed with the gear ring and when the gears are idle, the loads of the two motors can be identical only when the two gears are meshed with the gear ring, at the moment, the two motors jointly drive the rotating mechanism of the welding trolley to rotate, the two gears synchronously rotate, and the relative angular position relationship of the two motors is kept stable, namely the rotation angle difference of the rotating shafts of the two motors is constant. In the third step, when one of the gears is separated from the gear ring, it means that the gear enters the notch portion of the gear ring, and at this time, the other gear still keeps engaged with the gear ring, and currently, the motor corresponding to the gear separated from the gear ring is a low-load motor, and the motor corresponding to the other gear still kept engaged with the gear ring is a high-load motor—since the gear of the low-load motor enters an idle state, and the gear of the high-load motor still keeps engaged with the gear ring, the whole load of the gear ring is transferred to the high-load motor, and the low-load motor has almost no load, so that the rotation states of the two gears are changed. The main content of the step is to apply a first bias current to the low-load motor and apply a second bias current to the high-load motor, wherein the first bias current and the second bias current are opposite in direction, and the first bias current is mainly used for reducing the rotating speed of the low-load motor and controlling the rotating position of a motor rotating shaft so as to reduce the rotating speed of a gear in an idling state; the second bias current is mainly used for increasing the torque of the high-load motor so as to enable the high-load motor to adapt to the increased load and ensure the rotation speed of the gear meshed with the gear ring to be stable. Therefore, through the action of the first bias current and the second bias current, the running states of the two motors and the rotating states of the two gears can be regulated simultaneously to control the rotating speeds of the two motors, correct the angular displacement of the low-load motor relative to the high-load motor, and enable the rotating states of the gears positioned at the notch part of the gear ring to be indistinguishable from the rotating states of the gears which form normal meshing with the complete gear ring at the same part until the rotating speeds of the low-load motor and the high-load motor are the same and the relative angular position relation is restored to the initial relative angular position relation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a 360 ° rotation operation of a welding carriage according to the prior art.
Fig. 2 is a flowchart of a method according to an embodiment of the present invention.
Fig. 3 is a system block diagram of an embodiment of the present invention.
Wherein, in fig. 3:
the first detection module-1, the second detection module-2, the third detection module-3 and the control module-4.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 2, fig. 2 is a flowchart of a method according to an embodiment of the invention.
In one specific embodiment provided by the invention, the motor control method based on the non-whole gear ring double-gear meshing mechanism mainly comprises three steps of respectively:
s1, detecting the load states and the rotating speeds of two motors in real time;
s2, when the loads of the two motors are the same, acquiring the relative angular position relationship of the two motors to serve as an initial relative angular position relationship;
s3, when one of the gears is separated from the gear ring, applying a first bias current to the low-load motor to reduce the rotating speed, and simultaneously applying a second bias current to the high-load motor to increase the torque until the rotating speed of the low-load motor is the same as that of the high-load motor and the relative angular position relation is restored to the initial relative angular position relation;
the motor corresponding to the gear which is separated from the gear ring at present is a low-load motor, and the motor corresponding to the other gear at present is a high-load motor; the first bias current is opposite in direction to the second bias current.
In step S1, the main content is to detect the load states and the rotation speeds of the two motors in real time, so as to determine the running states of the two motors and the rotation states of the two gears. Generally, the gear is fixedly connected to the rotating shaft of the motor, so that the rotating speed of the motor is the rotating speed of the gear, and the angular position of the motor is the angular position of the gear.
In order to detect the load states of the two motors in real time, in this embodiment, the load states of the motors corresponding to the two motors are detected in real time through the load sensors respectively, so that one-to-one independent detection of the load sensors and the motor load is realized. Generally, the load sensor realizes real-time load detection mainly by acquiring real-time power of the motor.
Similarly, in order to facilitate the detection of the rotation speeds of the two motors, in this embodiment, the corresponding rotation speeds of the motors are detected in real time by the tachometers built in the two motors, so that the one-to-one independent detection of the tachometers and the motors is realized. In general, the speedometer can specifically detect the rotation speed of the rotating shaft of the motor by adopting the principles of an optical reflection method, a magneto-electric method, a grating method, a Hall switch detection method and the like.
In step S2, when the loads of the two motors are detected to be the same, the relative angular position relationship of the two motors is acquired as the initial relative angular position relationship.
Since the loads of the motors are different when the gears are meshed with the gear ring and when the gears are idle, the loads of the two motors can be identical only when the two gears are meshed with the gear ring, at the moment, the two motors jointly drive the rotating mechanism of the welding trolley to rotate, the two gears synchronously rotate, and the relative angular position relationship of the two motors is kept stable, namely the rotation angle difference of the rotating shafts of the two motors is constant.
In general, a stable transmission state when two gears are meshed with a gear ring can be used as an initial state, in the initial state, the working states of two motors tend to be completely consistent theoretically, the rotating speeds of the motors are completely the same, and the positions of the motors always keep a certain relative position relationship—the positions of the motors do not refer to the physical positions of the two motors on the running track circle of the welding trolley, but refer to the rotating angle positions of the rotating shafts of the motors: for example, in the initial state, the rotating shaft of one motor is at a 90 ° angular position, and the rotating shaft of the other motor is at a 180 ° angular position, so when the rotating shaft of one motor rotates to a 390 ° angular position, and the rotating shaft of the other motor is at a 480 ° angular position, the relative angular position relationship of the two motors is the same as the initial relative angular position relationship in the initial state.
In order to accurately acquire the relative angular position relationship of the two motors, in this embodiment, the absolute value encoders are used to accurately detect the rotation state of the rotating shafts of the motors, and the two motors are respectively provided with the absolute value encoders to monitor the real-time rotation angle of the rotating shafts of the motors, so that in the initial state, the two absolute value encoders are used to respectively detect the initial angles of the rotating shafts of the two motors, and then the difference calculation is performed on the detected initial angles of the rotating shafts of the two motors. In the subsequent welding operation process, the two absolute value encoders continuously monitor the angle positions of the rotating shafts of the two motors so as to master the relative angle position relationship of the two motors at any time.
In step S3, when one of the gears is disengaged from the gear ring, it is indicated that the gear enters the notch portion of the gear ring, and at this time, the other gear still remains engaged with the gear ring, and currently, the motor corresponding to the gear that is disengaged from the gear ring is a low-load motor, and the motor corresponding to the other gear that remains engaged with the gear ring is a high-load motor—since the gear of the low-load motor enters the idle state, and the gear of the high-load motor remains engaged with the gear ring, the entire load of the gear ring is transferred to the high-load motor, and the low-load motor is almost unloaded, so that the rotation states of the two gears are changed. The main content of the step is to apply a first bias current to the low-load motor and apply a second bias current to the high-load motor, wherein the first bias current and the second bias current are opposite in direction, and the first bias current is mainly used for reducing the rotating speed of the low-load motor and controlling the rotating position of a motor rotating shaft so as to reduce the rotating speed of a gear in an idling state; the second bias current is mainly used for increasing the torque of the high-load motor so as to enable the high-load motor to adapt to the increased load and ensure the rotation speed of the gear meshed with the gear ring to be stable.
In this way, according to the motor control method based on the non-integral gear ring double-gear meshing mechanism provided by the embodiment, through the action of the first bias current and the second bias current, the running states of the two motors and the rotation states of the two gears can be adjusted simultaneously to control the rotation speeds of the two motors, the angular displacement of the low-load motor relative to the high-load motor is corrected, and when the rotation speeds of the low-load motor and the high-load motor are the same and the relative angular position relationship is restored to the initial relative angular position relationship, the rotation states of the gears positioned at the notch part of the gear ring are not different from the rotation states of the gears which form normal meshing with the complete gear ring at the same part, and in the whole, the rotation states of the stable meshing transmission of the two gears on the complete gear ring are equivalent to being reproduced, so that the gears can smoothly form stable meshing with the gear ring after passing through the notch part of the gear ring, and collision accidents are prevented.
Further, in step S3, when the first bias current is applied to the low-load motor, according to the gear mesh backlash eliminating principle, the embodiment specifically uses the formula:
a specific value of the first bias current is calculated, and then the bias current is applied to the low-load motor according to the specific value.
Meanwhile, in step S3, when a second bias current is applied to the high-load motor, according to the gear meshing anti-backlash principle, the embodiment specifically passes through the formula:
and calculating a specific value of the second bias current, and then applying the bias current to the high-load motor according to the specific value.
Wherein I is 1 For the first bias current, I 2 For the second bias current, I b For biasing current constant, v 1 Is the real-time load detection value, v of the low-load motor 2 For high-load electric machinesReal-time load detection value, v 0 The load of the two motors is balanced when the two gears are meshed with the gear ring.
As shown in fig. 3, fig. 3 is a system block diagram according to an embodiment of the present invention.
The embodiment also provides a motor control system based on the non-whole gear ring double-gear meshing mechanism, which mainly comprises a first detection module 1, a second detection module 2, a third detection module 3 and a control module 4.
The first detection module 1 is mainly used for detecting load states of two motors in real time, such as detecting power of the two motors in real time through load sensors arranged on the motors.
The second detection module 2 is mainly used for detecting the rotation speeds of the two motors in real time, such as detecting the rotation speeds of the rotating shafts of the two motors in real time through a velometer built in each motor.
The third detection module 3 is mainly configured to obtain a relative angular position relationship of two motors when loads of the two motors are the same, so as to obtain a rotation axis angle value of the two motors through absolute value codes set on the motors, and then perform difference calculation on the two rotation axis angle values through a difference calculator.
The control module 4 is mainly used for applying a first bias current to the low-load motor to reduce the rotation speed when one of the gears is separated from the gear ring, and applying a second bias current to the high-load motor to increase the torque until the rotation speed of the low-load motor is the same as that of the high-load motor and the relative angular position relation is restored to the initial relative angular position relation; the motor corresponding to the gear which is separated from the gear ring at present is a low-load motor, and the motor corresponding to the other gear at present is a high-load motor; the first bias current is opposite in direction to the second bias current.
In general, in order to apply bias currents to the two motors respectively, in this embodiment, the control module 4 mainly includes a first current controller and a second current controller. The first current controller is mainly used for applying bias current to the low-load motor according to the calculated first bias current value, and the second current controller is mainly used for applying bias current to the high-load motor according to the calculated second bias current value.
In addition, in order to facilitate accurate control of the rotational speeds and angular positions of the two motors, the control module 4 in this embodiment further includes a first speed controller and a second speed controller. The first speed controller is mainly used for finely adjusting and correcting the rotating speed of the low-load motor so as to assist in controlling the rotating speed and the angle position of the low-load motor, and the second speed controller is mainly used for finely adjusting and correcting the rotating speed of the high-load motor so as to assist in controlling the rotating speed and the angle position of the high-load motor.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A motor control method based on a non-whole gear ring double-gear meshing mechanism is characterized by comprising the following steps:
detecting the load states and the rotating speeds of the two motors in real time;
when the loads of the two motors are the same, acquiring the relative angular position relationship of the two motors to serve as an initial relative angular position relationship;
when one of the gears is separated from the gear ring, a first bias current is applied to the low-load motor to reduce the rotating speed, and a second bias current is applied to the high-load motor to increase the torque until the rotating speed of the low-load motor is the same as that of the high-load motor and the relative angular position relation is restored to the initial relative angular position relation;
the motor corresponding to the gear which is separated from the gear ring at present is the low-load motor, and the motor corresponding to the other gear at present is the high-load motor; the first bias current is opposite to the second bias current;
applying a first bias current to the low-load motor, specifically comprising:
by the formula:
；
calculating a first bias current and applying the first bias current to the low-load motor;
wherein I is 1 For the first bias current, I b For biasing current constant, v 1 Is the real-time load detection value, v of the low-load motor 0 The balanced load of the two motors when the two gears are meshed with the gear ring is formed;
applying a second bias current to the high-load motor, specifically comprising:
by the formula:
；
calculating a second bias current and applying the second bias current to the high-load motor;
wherein I is 2 For the second bias current, I b For biasing current constant, v 2 Is the real-time load detection value, v of the high-load motor 0 The load of the two motors is balanced when the two gears are meshed with the gear ring.
2. The motor control method based on the non-whole gear ring double gear engagement mechanism according to claim 1, wherein the load states of the two motors are detected in real time, specifically comprising:
and detecting the load states of the motors corresponding to the motors in real time through load sensors respectively arranged on the two motors.
3. The motor control method based on the non-whole gear ring double gear engagement mechanism according to claim 1, wherein detecting the rotational speeds of the two motors in real time specifically comprises:
and detecting the rotating speeds of the motors corresponding to the motors in real time through the velocimeters respectively arranged in the two motors.
4. The motor control method based on the non-whole ring gear double gear engagement mechanism according to claim 1, wherein obtaining the relative angular positional relationship of the two motors specifically comprises:
and detecting the initial angles of the rotating shafts of the motors through absolute value encoders respectively arranged on the two motors, and calculating the difference value of the initial angles of the two rotating shafts.
5. A motor control system based on a non-whole ring gear double gear engagement mechanism, comprising:
the first detection module is used for detecting the load states of the two motors in real time;
the second detection module is used for detecting the rotation speeds of the two motors in real time;
the third detection module is used for acquiring the relative angular position relation of the two motors when the loads of the two motors are the same, and taking the relative angular position relation as an initial relative angular position relation;
the control module is used for applying a first bias current to the low-load motor to reduce the rotating speed when one gear is separated from the gear ring, and applying a second bias current to the high-load motor to increase the torque until the rotating speed of the low-load motor is the same as that of the high-load motor and the relative angular position relation is restored to the initial relative angular position relation;
the motor corresponding to the gear which is separated from the gear ring at present is the low-load motor, and the motor corresponding to the other gear at present is the high-load motor; the first bias current is opposite to the second bias current;
applying a first bias current to the low-load motor, specifically comprising:
by the formula:
；
calculating a first bias current and applying the first bias current to the low-load motor;
wherein I is 1 For the first bias current, I b For biasing current constant, v 1 Is the real-time load detection value, v of the low-load motor 0 The balanced load of the two motors when the two gears are meshed with the gear ring is formed;
applying a second bias current to the high-load motor, specifically comprising:
by the formula:
；
calculating a second bias current and applying the second bias current to the high-load motor;
wherein I is 2 For the second bias current, I b For biasing current constant, v 2 Is the real-time load detection value, v of the high-load motor 0 The load of the two motors is balanced when the two gears are meshed with the gear ring.
6. The non-whole ring gear double gear engagement mechanism based motor control system of claim 5, wherein the control module comprises:
a first current controller for applying a first bias current to the low-load motor;
and the second current controller is used for applying a second bias current to the high-load motor.
7. The non-whole ring gear double gear engagement mechanism based motor control system of claim 6, wherein the control module further comprises:
a first speed controller for controlling the rotational speed of the low-load motor;
and the second speed controller is used for controlling the rotating speed of the high-load motor.
8. The motor control system based on the non-whole ring gear double gear engagement mechanism according to claim 7, wherein the first detection module is a load sensor provided on each of the motors, the second detection module is a velometer built in each of the motors, and the third detection module is a differential calculator signal-connected to an absolute value encoder provided on each of the motors.
Priority Applications (1)
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