CN117978003A - Dual-motor system load position control method, device, equipment and readable medium - Google Patents
Dual-motor system load position control method, device, equipment and readable medium Download PDFInfo
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Abstract
The invention discloses a method, a device, equipment and a readable medium for controlling the load position of a double-motor system, wherein the method comprises the following steps: calculating an actual position θ L of the load rack based on the angular position θ m1 of the first motor and the angular position θ m2 of the second motor; calculating a feedforward control amount u ff based on the target position θ ref of the load rack; calculating a feedback control amount u fb based on a deviation of an actual position θ L of the load rack from a target position θ ref; calculating an input torque T m1 of the first motor and an input torque T m2 of the second motor based on a preset variable bias torque anti-backlash strategy; based on the feedforward control amount u ff and the feedback control amount u fb, input torques of the first motor and the second motor are adjusted to control the position of the load rack. According to the method, the device, the equipment and the readable medium for controlling the load position of the double-motor system, provided by the invention, the angular positions of the double motors are accurately measured, and the input torque of the two motors is dynamically regulated through a specific algorithm, so that the influence of a transmission clearance can be effectively treated and eliminated.
Description
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a method, a device, equipment and a readable medium for controlling a load position of a double-motor system.
Background
In the field of numerically controlled machine tools, the design and operation of servo systems are key factors to ensure accurate machining and efficient operation of machines. The core function of the servo system is to provide accurate position and speed control, which is critical to achieving high quality processing results. However, due to limitations in the mechanical structure itself, servo systems are generally faced with transmission backlash problems during operation. Transmission gaps refer to small gaps between mechanical parts, such as gaps between gear teeth in a gear transmission system. The clearance is small but has a non-negligible effect on the overall performance of the machine tool.
The transmission clearance directly affects the positioning accuracy of the machine. In the field of precision machining, even a minute positional deviation may cause the machining quality to be out of standard. Therefore, the transmission clearance becomes an important factor for limiting the improvement of the precision of the numerical control machine. Furthermore, when the servo system is moving at high speed, the transmission gap may cause oscillations of the system, which not only reduces the machining accuracy, but may also lead to damage of the mechanical structure, even in extreme cases causing mechanical failure or stopping of operation.
Existing solutions are mainly focused on improvements in mechanical design. Common practice includes the use of mechanical structures such as anti-backlash gears, spring pretension, etc. to minimize or eliminate backlash. These methods can alleviate to some extent the accuracy loss and stability problems due to transmission clearances. However, these mechanical solutions are not without drawbacks. Over time, the effects of these anti-backlash measures gradually decrease or even fail completely, affecting the accuracy of the position control of the load, due to wear of the mechanical components, the influence of environmental factors, and the increase in the frequency of use.
Therefore, in view of the above technical problems, it is necessary to provide a new solution.
Disclosure of Invention
The invention aims to provide a method, a device, equipment and a readable medium for controlling the load position of a double-motor system, which can realize accurate control of the load position.
In order to achieve the above purpose, the technical scheme provided by the invention is as follows:
in a first aspect, the present invention provides a method for controlling a load position of a dual-motor system, where the dual-motor system includes a first motor, a second motor, and a load rack, a first gear meshed with the load rack is disposed on an output shaft of the first motor, and a second gear meshed with the load rack is disposed on an output shaft of the second motor, and the method includes:
Calculating an actual position θ L of the load rack based on the angular position θ m1 of the first motor and the angular position θ m2 of the second motor;
Calculating a feedforward control amount u ff based on the target position θ ref of the load rack;
Calculating a feedback control amount u fb based on a deviation of an actual position θ L of the load rack from a target position θ ref;
Calculating an input torque T m1 of the first motor and an input torque T m2 of the second motor based on a preset variable bias torque anti-backlash strategy;
Based on the feedforward control amount u ff and the feedback control amount u fb, input torques of the first motor and the second motor are adjusted to control the position of the load rack.
In one or more embodiments, the method further comprises:
Before calculating the actual position theta L of the load rack, the first motor and the second motor apply forward moment, so that the double-motor system is in a first state that both the first gear and the second gear are propped against the forward tooth side of the rack;
At a certain moment in the first state, the angular position of the first motor, the angular position of the second motor and the actual position of the load rack are all 0 at the moment;
The second motor applies a reverse moment to enable the double-motor system to be in a second state that the first gear abuts against the forward tooth side of the rack and the second gear abuts against the reverse tooth side of the rack;
At some point in the second state, the angular position θ m1 of the first motor and the angular position θ m2 of the second motor at that point are recorded, and the transmission clearance α is calculated based on the angular position θ m1 of the first motor and the angular position θ m2 of the second motor at that point.
In one or more embodiments, the transmission clearance α is calculated by the formula:
α＝θm1-θm2。
In one or more embodiments, the actual position θ L of the load rack is calculated as:
in one or more embodiments, the feedforward control amount u ff has a calculation formula as follows:
Wherein J m1 is the moment of inertia of the first motor, J m2 is the moment of inertia of the second motor, J L is the moment of inertia of the load, b m1 is the damping coefficient of the first motor, b m2 is the damping coefficient of the second motor, and b L is the damping coefficient of the load.
In one or more embodiments, the calculation formula of the feedback control amount u fb is:
Wherein K is a feedback gain matrix, X, Y is a symmetric positive definite matrix, C is a constant, and gamma is a given performance index.
In one or more embodiments, the preset variable bias moment anti-backlash strategy is:
Tm2＝Tref-Tm1
wherein T ref is a reference torque, and T bias is a bias torque.
In a second aspect, the present invention provides a load position control device of a dual-motor system, where the dual-motor system includes a first motor, a second motor, and a load rack, a first gear meshed with the load rack is disposed on an output shaft of the first motor, and a second gear meshed with the load rack is disposed on an output shaft of the second motor, and the device includes:
A position module for calculating an actual position θ L of the load rack based on the angular position θ m1 of the first motor and the angular position θ m2 of the second motor;
A feedforward module for calculating a feedforward control amount u ff based on a target position θ ref of the load rack;
The feedback module is used for calculating a feedback control quantity u fb based on the deviation between the actual position theta L of the load rack and the target position theta ref;
The anti-backlash module is used for calculating the input torque T m1 of the first motor and the input torque T m2 of the second motor based on a preset variable bias torque anti-backlash strategy;
And the control module is used for adjusting the input torque of the first motor and the second motor based on the feedforward control quantity u ff and the feedback control quantity u fb so as to control the position of the load rack.
In a third aspect, the invention provides an electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the dual motor system load position control method as described above when executing the program.
In a fourth aspect, the present invention provides a computer readable medium having computer executable instructions carried therein, which when executed by a processor, are adapted to carry out a method of controlling load position of a two motor system as described above.
Compared with the prior art, the method, the device, the equipment and the readable medium for controlling the load position of the double-motor system provided by the invention have the advantages that the angular position of the double-motor system is accurately measured, and the actual position of the load is estimated based on the data; the feedforward and feedback control mechanisms are combined to realize accurate control of the load position; the feedforward control processes the expected behavior of the system, and the feedback control adjusts the control action according to the real-time state; and the input torque of the two motors is dynamically regulated through a specific algorithm, so that the influence of a transmission gap can be effectively treated and eliminated.
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 some embodiments described in the present invention, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.
FIG. 1 is a schematic diagram of a dual motor system according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for controlling the load position of a dual motor system according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a dual motor system in a first state according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a dual motor system in a second state according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a dual motor system load position control device according to an embodiment of the invention;
FIG. 6 is a schematic diagram of an electronic device according to an embodiment of the invention;
fig. 7 is a schematic diagram of a dual motor control system according to an embodiment of the invention.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
In the prior art, the problem of transmission clearance of a servo system is identified as a main factor affecting mechanical positioning accuracy, stability and even overall reliability of the system. Although conventional approaches attempt to address this problem by mechanical means (e.g., anti-backlash gears, spring pretension, etc.), these approaches tend to be difficult to accommodate for long-term wear and environmental changes, resulting in gradual degradation of the effect. The inventors have therefore recognized that a new approach is needed to effectively and permanently address the transmission lash problem, particularly in application scenarios where high speed and high precision machining is sought.
In view of this, the present invention proposes a completely new technical implementation concept, namely solving the transmission clearance problem by electrical control rather than purely mechanical adjustment. The core of the idea is that an innovative control method for the load position of the double-motor system is adopted, the method not only can accurately control the load position, but also can dynamically adjust the motor moment to adapt to different working conditions, thereby effectively eliminating or reducing instability and precision loss caused by transmission gaps.
Specifically, the present invention estimates the actual position of the load by accurately measuring the angular position of the twin motors and based on these data. And by combining a feedforward control mechanism and a feedback control mechanism, the accurate control of the load position is realized. The feedforward controls the expected behavior of the processing system, while the feedback control adjusts the control actions based on the real-time state. Finally, the input torque of the two motors is dynamically regulated through a specific algorithm, so that the influence of a transmission clearance is effectively coped with and eliminated.
Referring to fig. 1, a schematic structural diagram of a dual-motor system according to an embodiment of the present invention is shown, the dual-motor system includes a first motor, a second motor and a load rack, a first gear meshed with the load rack is disposed on an output shaft of the first motor, and a second gear meshed with the load rack is disposed on an output shaft of the second motor.
Referring to fig. 2, a flowchart of a dual-motor system load position control method according to an embodiment of the invention is shown, and the dual-motor system load position control method specifically includes the following steps:
S201: based on the angular position of the first motor θ m1 and the angular position of the second motor θ m2, the actual position of the load rack θ L is calculated.
It should be noted that the angular position θ m1 of the first motor and the angular position θ m2 of the second motor may be measured by a sensor (e.g., an encoder) on the motors.
In an exemplary embodiment, the first motor and the second motor apply a forward torque to place the dual motor system in a first state in which both the first gear and the second gear are in abutment with the forward flanks of the rack as shown in fig. 3, before calculating the actual position θ L of the load rack. At a certain moment in the first state shown in fig. 3, the angular position of the first motor, the angular position of the second motor and the actual position of the load rack are all set to 0, so that a reference point is determined and used as a reference for subsequent position control. Then, the second motor applies a reverse torque, placing the dual motor system in a second state where the first gear is against the forward flanks of the racks and the second gear is against the reverse flanks of the racks as shown in fig. 4. At a certain point in the second state shown in fig. 4, the angular position θ m1 of the first motor and the angular position θ m2 of the second motor at that moment are recorded, and the transmission clearance (backlash) α is calculated based on the angular position θ m1 of the first motor and the angular position θ m2 of the second motor at that moment.
Specifically, the calculation formula of the transmission clearance alpha is as follows: α=θ m1-θm2.
Further, the calculation formula of the actual position θ L of the load rack is:
it should be noted that, when the input torque T m1 of the first motor is greater than 0, that is, when the first motor applies a forward torque, the first gear abuts against the forward tooth side of the rack, and at this time, the actual position θ L of the load rack is equal to the angular position θ m1 of the first motor. Since in this case the rotation of the first motor directly drives the movement of the load rack without being affected by the transmission play, the actual position of the load rack coincides with the angular position of the first motor.
When the input torque T m1 of the first motor is less than or equal to 0, that is, when the first motor applies a reverse or zero torque, the first gear abuts against the reverse tooth side of the rack, and at this time, the actual position θ L of the load rack is equal to the angular position θ m1 of the first motor plus the transmission clearance α. Since in this case the rotation of the first motor will lead to a hysteresis of the load rack, which is equal to the size of the transmission gap (backlash), the actual position of the load rack is greater than the angular position of the first motor by the transmission gap a.
S202: the feedforward control amount u ff is calculated based on the target position θ ref of the load rack.
Note that θ ref is a predetermined position to which the load rack needs to reach or hold, and the target position is used as a reference point of the control system for guiding the system operation. u ff is a control strategy aimed at predicting the required control input from the target position θ ref, independent of feedback of the current system state. By pre-calculating the feedforward control amount, the system can more accurately move the load to the target position, reducing overshoot and ringing. Since feed forward control is based on predictions, it can reduce the time for the system to reach steady state.
In an exemplary embodiment, the feedforward control amount u ff is calculated according to the following formula:
Wherein J m1 is the moment of inertia of the first motor, J m2 is the moment of inertia of the second motor, J L is the moment of inertia of the load, b m1 is the damping coefficient of the first motor, b m2 is the damping coefficient of the second motor, and b L is the damping coefficient of the load.
Note that x * is the target speed of the load rack, which is the speed corresponding to the target position θ ref to be reached by the load rack, that isWhere t is time.
The damping coefficient b m1、bm2、bL of the system refers to the resistance the system experiences during movement, which consumes energy from the system and reduces the speed of the system. The damping coefficient b m1 of the first motor refers to the resistance force received by the first motor during rotation, the damping coefficient b m2 of the second motor refers to the resistance force received by the second motor during rotation, and the damping coefficient b L of the load refers to the resistance force received by the load during movement. The damping coefficient b m1、bm2、bL of the system is a constant, generally known or measurable, determined by the structure and materials of the system.
The moment of inertia J m1、Jm2、JL of the system refers to the inertia exhibited by the system during rotation, which affects the acceleration of the system, causing the speed of the system to change. The moment of inertia J m1 of the first motor refers to the inertia exhibited by the first motor during rotation, the moment of inertia J m2 of the second motor refers to the inertia exhibited by the second motor during rotation, and the moment of inertia J L of the load refers to the inertia exhibited by the load during movement. The moment of inertia J m1、Jm2、JL of the system is determined by the mass and structure of the system, generally a known or measurable constant.
S203: the feedback control amount u fb is calculated based on the deviation of the actual position θ L of the load rack from the target position θ ref.
The feedback control amount u fb is a control input calculated based on a deviation between the actual position θ L of the load rack and the target position θ ref. Feedback control allows the system to dynamically adjust its operation to ensure that the load position is as close as possible to the target position. By correcting the positional deviation in real time, feedback control can help the system more accurately reach and maintain the target position.
In an exemplary embodiment, the calculation formula of the feedback control amount u fb is:
Wherein K is a feedback gain matrix, X, Y is a symmetric positive definite matrix, C is a constant, and gamma is a given performance index.
The deviation of the state variable of the system and the target state variable is used for the purpose ofRefers to the error of the system, i.e. the difference between the actual state and the desired state of the system. Error of system/>Is to be eliminated or reduced because the goal of the system is to bring the actual and desired conditions as close as possible to achieve positional control of the load rack. The feedback gain matrix K refers to the feedback control parameters of the system, which determine the magnitude and direction of the feedback control quantity u fb. The feedback gain matrix K is determined by the performance index gamma of the system and the process matrix A, the control matrix B and the constant matrix C of the system.
The linear matrix inequality in the calculation formula of the feedback control amount u fb is used to ensure that the system meets a given performance index γ. Gamma is a given positive number representing the maximum output gain of the system, i.e. the maximum value of the ratio of the output variable and the input variable of the system, reflecting the sensitivity and robustness of the system. The smaller the value of γ, the less sensitive the output of the system to changes in input, the better the robustness of the system, but the worse the performance of the system; the larger the value of γ, the more sensitive the output of the system to changes in the input, the better the performance of the system, but the less robust the system. The value of gamma can be reasonably selected according to the specific requirements of the system.
S204: based on a preset variable bias moment anti-backlash strategy, the input moment T m1 of the first motor and the input moment T m2 of the second motor are calculated.
It should be noted that, according to a preset anti-backlash strategy, the moment to be applied by the two motors can be calculated, so that the two motors rotate according to the moment, thereby eliminating or compensating the influence of the transmission backlash. The transmission gap is the relative gap between two intermeshed mechanical parts, which can lead to non-linearities and uncertainties in the system, giving errors in the servo control. The principle of the method is that the input torque of the first motor and the second motor is regulated to make the two gears always prop against different tooth sides of the rack, so as to eliminate or compensate the influence of the transmission gap.
In an exemplary embodiment, the preset variable bias moment anti-backlash strategy is:
wherein T ref is a reference torque, and T bias is a bias torque.
It should be noted that, as shown in fig. 4, when the load is stationary, T M＝-TS,Tbias＝TM-TS is the magnitude of the bias moment; at the moment, if the load moves positively, only the T M is required to be positively increased, and the T S is required to be negatively reduced; if the load moves reversely, T M is decreased positively, and T S is increased negatively. This enables the load to move with the gap removed.
Considering that the backlash only affects the system when the load is stationary and commutates, the magnitude of the bias moment T bias is gradually reduced to 0 when the load is not in a stationary and commutating state, so as to obtain the variable bias moment backlash eliminating strategy (1) in view of energy saving. Under the bias moment varying anti-backlash strategy, the process of gear passing backlash is ignored, a double-motor system formed by two driving gears and a load rack can be regarded as a whole, and the system can be described as follows:
Where T L is the load moment, which includes the friction moment, the externally applied moment, and all non-modeled disturbances. Let j=j m1+Jm2+JL be the number, u＝[Tm],d＝[TL]，The system (2) can be described as:
In view of the fact that the system will converge to a zero state when state feedback is used, in order to achieve a state x, i.e. load speed The expression (3) can be used/>A translational transformation is performed, where x * is the target state, and the target state is a step signal of known amplitude. After transformation, the system may be represented as:
for the system (4), a controller is designed as follows:
u＝uff+ufb (5)
Wherein u ff is a feedforward controller that satisfies equation (6):
Ax*+Buff＝0 (6)
u fb is the feedback controller of the form (7), where K is the feedback gain matrix to be determined:
substitution of formula (5) into system (4) can be achieved:
to achieve the speed of loading The present embodiment designs an error signal:
where c= [ -1], the velocity tracking target may be converted into:
this is true in steady state. Combining equations (8) and (9), the final two-motor system can be expressed as:
S205: based on the feedforward control amount u ff and the feedback control amount u fb, input torques of the first motor and the second motor are adjusted to control the position of the load rack.
In step S205, the feedforward control amount u ff (calculated based on the predetermined target position) and the feedback control amount u fb (calculated based on the deviation of the actual position from the target position) are combined to form the final control command. Based on these integrated control commands, the input torques of the first and second motors are adjusted to ensure that the load rack is able to reach or remain in the target position.
In an exemplary embodiment, a two-motor control system is provided as shown in FIG. 7, which may be constructed from an optimal controller based on LQR and H ∞, an anti-backlash strategy, and a two-motor system dynamics model based on the anti-backlash strategy. The optimal controller based on LQR and H ∞ consists of load position estimation, a feedforward controller and a feedback controller, the anti-backlash strategy adopts the variable bias moment distribution mode, and a dynamic model of the double-motor system is built based on the strategy. The reference position is used as input of an optimal controller to obtain total moment u * required by a load, moment T m1、Tm2 required by the first motor and the second motor is obtained through moment distribution, and finally the actual positions of the two motors are fed back to the controller for closed-loop control.
Regarding the design of the feedforward controller, the feedforward controller u ff can be calculated according to equation (6) as follows:
Regarding the design of an optimal feedback controller based on LQR and H ∞, a closed-loop system with no external disturbances of the system (11) under control law (7) can be expressed as follows:
-giving a performance indicator to the system (13):
where Q and R are given symmetric positive weighting matrices. Then if there is a symmetric positive definite matrix X, Y and M satisfying the constraint
And so that the following optimization problem is solved, then k=yx -1 is an LQR optimal control gain for the system (13),
min(Trace(M))。
The closed loop system with external disturbances of the system (11) under the control law (7) can be represented as follows:
Given a performance index γ for the system (16), if there is a symmetric positive definite matrix X, the matrix Y satisfies:
then k=yx -1 is an asymptotically stable feedback gain for the system (16) that meets the performance index of H ∞ iiy 2≤γ‖d‖2.
After determining the system parameters Q, R and γ as required, the parallel-convex optimization problem min (Trace (M)) is solved by the simultaneous linear matrix inequalities (15) and (17), so that a feedback gain matrix k=yx -1 can be obtained, and an optimal controller (7) based on LQR and H ∞ can be obtained.
Referring to fig. 5, based on the same inventive concept as the aforementioned dual-motor system load position control method, the present invention provides a dual-motor system load position control device 500, which includes a position module 501, a feedforward module 502, a feedback module 503, an anti-backlash module 504, and a control module 505.
The position module 501 is configured to calculate an actual position θ L of the load rack based on the angular position θ m1 of the first motor and the angular position θ m2 of the second motor. The feedforward module 502 is configured to calculate a feedforward control amount u ff based on the target position θ ref of the load rack. The feedback module 503 is configured to calculate a feedback control amount u fb based on a deviation of the actual position θ L of the load rack from the target position θ ref. The anti-backlash module 504 is configured to calculate an input torque T m1 of the first motor and an input torque T m2 of the second motor based on a preset variable bias torque anti-backlash strategy. The control module 505 is configured to adjust input torques of the first motor and the second motor based on the feedforward control amount u ff and the feedback control amount u fb to control a position of the load rack.
Referring to fig. 6, an embodiment of the present invention further provides an electronic device 600, where the electronic device 600 includes at least one processor 601, a memory 602 (e.g., a nonvolatile memory), a memory 603, and a communication interface 604, and the at least one processor 601, the memory 602, the memory 603, and the communication interface 604 are connected together via a bus 605. The at least one processor 601 is configured to invoke the at least one program instruction stored or encoded in the memory 602 to cause the at least one processor 601 to perform the various operations and functions of the dual motor system load position control method described in various embodiments of the present specification.
In embodiments of the present description, electronic device 600 may include, but is not limited to: personal computers, server computers, workstations, desktop computers, laptop computers, notebook computers, mobile electronic devices, smart phones, tablet computers, cellular phones, personal Digital Assistants (PDAs), handsets, messaging devices, wearable electronic devices, consumer electronic devices, and the like.
Embodiments of the present invention also provide a computer readable medium having computer-executable instructions carried thereon that, when executed by a processor, may be used to implement the various operations and functions of the dual motor system load position control method described in the various embodiments of the present specification.
The computer readable medium in the present invention may be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
In the present invention, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus, systems, and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (10)
1. The utility model provides a two motor system load position control method, two motor system includes first motor, second motor and load rack, be equipped with on the output shaft of first motor with the first gear of load rack meshing, be equipped with on the output shaft of second motor with the second gear of load rack meshing, characterized in that, the method includes:
Calculating an actual position θ L of the load rack based on the angular position θ m1 of the first motor and the angular position θ m2 of the second motor;
Calculating a feedforward control amount u ff based on the target position θ ref of the load rack;
Calculating a feedback control amount u fb based on a deviation of an actual position θ L of the load rack from a target position θ ref;
Calculating an input torque T m1 of the first motor and an input torque T m2 of the second motor based on a preset variable bias torque anti-backlash strategy;
Based on the feedforward control amount u ff and the feedback control amount u fb, input torques of the first motor and the second motor are adjusted to control the position of the load rack.
2. The dual motor system load position control method of claim 1, further comprising:
Before calculating the actual position theta L of the load rack, the first motor and the second motor apply forward moment, so that the double-motor system is in a first state that both the first gear and the second gear are propped against the forward tooth side of the rack;
At a certain moment in the first state, the angular position of the first motor, the angular position of the second motor and the actual position of the load rack are all 0 at the moment;
The second motor applies a reverse moment to enable the double-motor system to be in a second state that the first gear abuts against the forward tooth side of the rack and the second gear abuts against the reverse tooth side of the rack;
At some point in the second state, the angular position θ m1 of the first motor and the angular position θ m2 of the second motor at that point are recorded, and the transmission clearance α is calculated based on the angular position θ m1 of the first motor and the angular position θ m2 of the second motor at that point.
3. The two-motor system load position control method according to claim 2, wherein the transmission clearance α has a calculation formula of:
α＝θm1-θm2。
4. The method for controlling the load position of a dual motor system according to claim 3, wherein the calculation formula of the actual position θ L of the load rack is:
5. the method according to claim 1, wherein the calculation formula of the feedforward control amount u ff is:
Wherein J m1 is the moment of inertia of the first motor, J m2 is the moment of inertia of the second motor, J L is the moment of inertia of the load, b m1 is the damping coefficient of the first motor, b m2 is the damping coefficient of the second motor, and b L is the damping coefficient of the load.
6. The method according to claim 5, wherein the calculation formula of the feedback control amount u fb is:
Wherein K is a feedback gain matrix, X, Y is a symmetric positive definite matrix, C is a constant, and gamma is a given performance index.
7. The method for controlling the load position of a dual motor system according to claim 1, wherein the preset variable bias moment anti-backlash strategy is:
Tm2＝Tref-Tm1
wherein T ref is a reference torque, and T bias is a bias torque.
8. The utility model provides a double motor system load position controlling means, double motor system includes first motor, second motor and load rack, be equipped with on the output shaft of first motor with load rack engaged first gear, be equipped with on the output shaft of second motor with load rack engaged second gear, its characterized in that, the device includes:
A position module for calculating an actual position θ L of the load rack based on the angular position θ m1 of the first motor and the angular position θ m2 of the second motor;
A feedforward module for calculating a feedforward control amount u ff based on a target position θ ref of the load rack;
The feedback module is used for calculating a feedback control quantity u fb based on the deviation between the actual position theta L of the load rack and the target position theta ref;
The anti-backlash module is used for calculating the input torque T m1 of the first motor and the input torque T m2 of the second motor based on a preset variable bias torque anti-backlash strategy;
And the control module is used for adjusting the input torque of the first motor and the second motor based on the feedforward control quantity u ff and the feedback control quantity u fb so as to control the position of the load rack.
9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the two-motor system load position control method of any one of claims 1-7 when the program is executed by the processor.
10. A computer readable medium having computer executable instructions carried thereon, which when executed by a processor is adapted to implement the two-motor system load position control method of any of claims 1 to 7.
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