CN203984282U - A kind of bi-motor Driven by Coaxial gap control system that disappears - Google Patents
A kind of bi-motor Driven by Coaxial gap control system that disappears Download PDFInfo
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- CN203984282U CN203984282U CN201420203069.XU CN201420203069U CN203984282U CN 203984282 U CN203984282 U CN 203984282U CN 201420203069 U CN201420203069 U CN 201420203069U CN 203984282 U CN203984282 U CN 203984282U
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Abstract
The utility model discloses a kind of bi-motor Driven by Coaxial gap control system that disappears, comprise host computer, main motor driver, from motor driver, the first motor, the second motor, the first mechanical drive train and the second mechanical drive train; Described host computer respectively through fieldbus and main motor driver be connected from motor driver, main motor driver is connected with the first mechanical drive train through the first motor, be connected with the second mechanical drive train through the second motor from motor driver, the load that connecting system drives respectively of first, second mechanical drive train.The utility model increases the gap controlling unit that disappears in the motor driver of Digital Control, the bi-motor Driven by Coaxial that the realizes general-purpose machine driver gap control that disappears, can facilitate as required the size of setting the gap moment that disappears, by in the feedback speed signal access control loop of bi-motor, avoid differential concussion problem.
Description
Technical field
The utility model discloses a kind of bi-motor Driven by Coaxial gap control system that disappears, relate to bi-motor Driven by Coaxial control technology field.
Background technology
In based on machine driving control system, the existence of the non-linear backlash of driving-chain not only affects control system dynamic property also affects the positioning precision of system simultaneously.Therefore,, at hi-Fix precision control field, need to eliminate driving-chain backlash for improving control precision.Prior art mainly adopts two kinds of methods: machinery gap and the bi-motor Driven by Coaxial gap that disappears that disappears.
Chinese Patent Application No.: CN201210022983.X, the applying date: on January 11st, 2012, patent name is: clearance elimination gear, this utility model relates to a kind of clearance elimination gear, is made up of gear sheet and the anti-backlash mechanism of vertical point.In the time that gear engages, utilize anti-backlash mechanism to produce circumferential thrust to outboard gears sheet, make idler gear sheet and outboard gears sheet generation side set, in transmission, eliminate drive gap.The disappear weak point of gap method of machinery is, the method is in driving-chain, to increase mechanical anti-backlash mechanism, makes transmission mechanism design complicated, and debugging difficulty increases.Along with the development of control technology, the disappear method of gap of machinery is fewer and feweri.
The bi-motor Driven by Coaxial gap control general principle that disappears is that principle based on torque compensation completes, control motor and disappear one of gap method as Chinese Patent Application No.: CN201010185282.9, the applying date: on May 28th, 2010, patent name is: a kind of dual motor driven backlash eliminating device and the gap method that disappears, this patent its special feature of gap method that disappears is: by the control action of electric machine control system, in the process of the first motor and the operation of the second motor, remain that the difference of the output torque of the first motor and the output torque of the second motor is a steady state value.This feature that disappears gap method has been avoided the exchanges data between two drivers, uses simply, without increasing any hardware.The weak point of the method is, the method is, at two motors, the gap moment that fixedly disappears is set, and not only loses motor driving power, simultaneously due to gap moment equal and opposite in direction, the opposite direction of fixedly disappearing, therefore affects the net synchronization capability of bi-motor.
Control motor and disappear gap method two as Chinese Patent Application No.: CN200920232354.3, the applying date: on September 29th, 2009, patent name is: double-motor backlash eliminating control device for alternating current servo system, and this patent its special feature of gap method that disappears is: between two groups of ac drivers, connect the gap control circuit that disappears; The gap that disappears control circuit comprises that an electric current summing unit, energy change current signal into the function generator of a biasing voltage signal of adjusting by moment relation curve, is related to the adjustment gap moment that disappears according to M curve.This gap method that disappears does not have the disappear shortcoming of one of gap method of above-mentioned control motor, employing is simulated the gap circuit that disappears and is completed the gap control that disappears, weak point is, the method is the specialized designs one gap circuit that disappears between two motor drivers, increase hardware cost and installing space, the actual debugging of this method is simultaneously comparatively complicated.
At present along with the development of control technology, motor driver intellectuality, digitized degree are more and more higher, can provide on basic function basis and suitably connect and quadratic programming at general-purpose machine driver according to application demand, complete different application demands.
Utility model content
Technical problem to be solved in the utility model is: for the defect of prior art, a kind of bi-motor Driven by Coaxial gap control system that disappears is provided, increase the gap controlling unit that disappears, the bi-motor Driven by Coaxial that the realizes general-purpose machine driver gap control that disappears, and can facilitate as required the size of setting the gap moment that disappears, and in the control loop that the feedback speed signal of bi-motor is accessed simultaneously, avoid the common differential concussion problem of bi-motor Driven by Coaxial.
The utility model is for solving the problems of the technologies described above by the following technical solutions:
A kind of bi-motor Driven by Coaxial gap control system that disappears, comprises host computer, main motor driver, from motor driver, the first motor, the second motor, the first mechanical drive train and the second mechanical drive train; Described host computer respectively through fieldbus and main motor driver be connected from motor driver, main motor driver is connected with the first mechanical drive train through the first motor, be connected with the second mechanical drive train through the second motor from motor driver, the load that connecting system drives respectively of first, second mechanical drive train.
As further preferred version of the present utility model, described host computer comprises primary scene interface; Described main motor driver comprises secondary scene interface, the first high speed output communication mouth, the first high speed input communication mouth, signal condition module, speed loop, first disappear gap control module, First Speed feedback module, the first moment loop and the first additional moment module; Describedly comprise the 3rd on-the-spot interface, the second high speed input communication mouth, the second high speed output communication mouth, second speed feedback module, second disappear gap control module, the second additional moment module and the second moment loop from motor driver;
The primary scene interface of host computer is connected with the 3rd on-the-spot interface from motor driver with the secondary scene interface in main motor driver respectively through fieldbus; Main motor driver is connected with the second high speed input communication mouth from motor driver by the first high speed output communication mouth; Be connected with the first high speed input communication mouth of main motor driver by the second high speed output communication mouth from motor driver;
The first motor is connected with signal condition module through First Speed feedback module, the second motor is connected with signal condition module, signal condition module is connected with the input of speed loop, the output of speed loop is connected with the first input end in the first moment loop with the first gap control module that disappears respectively, the first output that disappears gap control module is connected with second input in the first moment loop through the first additional moment module, and the output in the first moment loop is connected with the first motor;
The output of speed loop is also connected with the second input that disappears gap control module with the first input end in the second moment loop respectively successively after the first high speed output communication mouth of main motor driver, the second high speed input communication mouth, the second output that disappears gap control module is connected with second input in the second moment loop through the second additional moment module, and the output in the second moment loop is connected with the second motor.
As further preferred version of the present utility model, described host computer is the one in PLC, industrial control computer or dsp controller.
The utility model adopts above technical scheme compared with prior art, has following technique effect:
(1) system of the present utility model is by increase the gap controlling unit that disappears in principal and subordinate's driver, thereby reduced the exchanges data quantity between two motor drivers, utilizes the existing hardware system of Dual-motors Driving to realize the Driven by Coaxial gap control that disappears.
(2) system of the present utility model utilizes state method to produce the gap moment size that disappears needing in the time that the gap controlling unit that disappears adopts bi-motor Driven by Coaxial, easily in existing digitalized motor drives, realizes.
(3) system of the present utility model at the coaxial set-up of control system of bi-motor bi-motor and speed feedback, can effectively prevent the concussion of bi-motor coaxial drive system differential.
Brief description of the drawings
Fig. 1 is the bi-motor Driven by Coaxial of the present utility model gap composition of the control system schematic diagram that disappears;
Fig. 2 is information communication connection diagram between control system host computer of the present utility model and motor driver;
Fig. 3 is main motor driver internal control schematic flow sheet of the present utility model;
Fig. 4 is of the present utility model from motor driver internal control schematic flow sheet.
Embodiment
Below in conjunction with accompanying drawing, the technical solution of the utility model is described in further detail:
Accompanying drawing 1 is a kind of bi-motor with the Driven by Coaxial gap composition of the control system schematic diagram that disappears, and it comprises host computer, and described host computer can be selected as controllers such as PLC, industrial control computer or DSP and all can realize, and this example selects PLC as host computer; Main motor driver, from motor driver, selected main motor driver and from motor driver, can select general motor driver, but must possess following three kinds of functions: 1. speed control mode or Torque Control pattern can be set, 2 possess the ability of second development of computing able to programme, 3. possesses the high speed communication mouth for master-slave synchronisation control, the general-purpose machine driver that the utility model is introduced with document " 9300 application of standard type servo controller on gill box " (document textile machine, in May, 2007) is example explanation implementation method); The first motor; The second motor; The first mechanical drive train; The second mechanical drive train.
Host computer produces the track of motion control, realize the control to main motor driver by fieldbus, simultaneously main motor driver, transmit running state information by fieldbus to host computer from motor driver, in main motor driver, complete bi-motor Driven by Coaxial control system speed loop control function, complete the gap control function that disappears simultaneously; Only complete from motor driver the gap control function that disappears; Main motor driver is conventional connection with the first motor and from motor driver and the second motor, does not repeat them here; The first motor drives load by the first mechanical drive train, and the second motor drives load by the second mechanical drive train, realizes the common Driven by Coaxial load of the first motor and the second motor.
Accompanying drawing 2 is two motor drivers and host computer information communication annexation schematic diagram, primary scene bus in host computer is connected with secondary scene bus in main motor driver and the 3rd fieldbus from motor driver, be used for transmitting host computer medium velocity command information, main motor driver is by secondary scene bus and send state information by fieldbus to host computer from motor driver simultaneously, and this is the routine application in multi_motor control.Main motor driver is connected with the high speed communication input port from motor driver by high speed communication delivery outlet, for the output in transmission speed loop; Main motor driver is connected with the high speed communication delivery outlet from motor driver by high speed communication input port, for transmitting the actual speed from motor driver.
The internal control signal flow chart that accompanying drawing 3 is main motor driver, main motor driver receives the speed command of host computer transmission by secondary scene bus, signal condition module receives from the actual speed signal from motor driver of motor driver high speed communication delivery outlet transmission by high speed communication input port, receive First Speed feedback simultaneously, signal condition module by after this two actual speed signals summation divided by 2, as the input of main motor driver speed loop.Speed loop is exported the first moment loop of giving main motor driver, gives the first gap control that disappears simultaneously, and the first output that disappears gap control is transferred to the first moment loop by the first additional moment, realizes the control to the first motor; Speed loop output is by the high speed communication delivery outlet output of main motor driver.
Accompanying drawing 4 is the internal control signal flow chart from motor driver, the second moment loop is received main motor driver and is transmitted the output signal of speed loop by high speed communication input port, the second gap control that disappears also receives main motor driver and transmits the output signal of speed loop, the gap that disappears control module output signal is transferred to the second moment loop by the second additional moment, realizes the control to the second motor.
By reference to the accompanying drawings execution mode of the present utility model is explained in detail above, but the utility model is not limited to above-mentioned execution mode, in the ken possessing those of ordinary skill in the art, can also under the prerequisite that does not depart from the utility model aim, make a variety of changes.
Claims (3)
1. the bi-motor Driven by Coaxial gap control system that disappears, is characterized in that: comprise host computer, main motor driver, from motor driver, the first motor, the second motor, the first mechanical drive train and the second mechanical drive train; Described host computer respectively through fieldbus and main motor driver be connected from motor driver, main motor driver is connected with the first mechanical drive train through the first motor, be connected with the second mechanical drive train through the second motor from motor driver, the load that connecting system drives respectively of first, second mechanical drive train.
2. a kind of bi-motor Driven by Coaxial as claimed in claim 1 gap control system that disappears, is characterized in that: described host computer comprises primary scene interface; Described main motor driver comprises secondary scene interface, the first high speed output communication mouth, the first high speed input communication mouth, signal condition module, speed loop, first disappear gap control module, First Speed feedback module, the first moment loop and the first additional moment module; Describedly comprise the 3rd on-the-spot interface, the second high speed input communication mouth, the second high speed output communication mouth, second speed feedback module, second disappear gap control module, the second additional moment module and the second moment loop from motor driver;
The primary scene interface of host computer is connected with the 3rd on-the-spot interface from motor driver with the secondary scene interface in main motor driver respectively through fieldbus; Main motor driver is connected with the second high speed input communication mouth from motor driver by the first high speed output communication mouth; Be connected with the first high speed input communication mouth of main motor driver by the second high speed output communication mouth from motor driver;
The first motor is connected with signal condition module through First Speed feedback module, the second motor is connected with signal condition module, signal condition module is connected with the input of speed loop, the output of speed loop is connected with the first input end in the first moment loop with the first gap control module that disappears respectively, the first output that disappears gap control module is connected with second input in the first moment loop through the first additional moment module, and the output in the first moment loop is connected with the first motor;
The output of speed loop is also connected with the second input that disappears gap control module with the first input end in the second moment loop respectively successively after the first high speed output communication mouth of main motor driver, the second high speed input communication mouth, the second output that disappears gap control module is connected with second input in the second moment loop through the second additional moment module, and the output in the second moment loop is connected with the second motor.
3. a kind of bi-motor Driven by Coaxial as claimed in claim 1 gap control system that disappears, is characterized in that: described host computer is the one in PLC, industrial control computer or dsp controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420203069.XU CN203984282U (en) | 2014-04-24 | 2014-04-24 | A kind of bi-motor Driven by Coaxial gap control system that disappears |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420203069.XU CN203984282U (en) | 2014-04-24 | 2014-04-24 | A kind of bi-motor Driven by Coaxial gap control system that disappears |
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| CN203984282U true CN203984282U (en) | 2014-12-03 |
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| CN201420203069.XU Expired - Fee Related CN203984282U (en) | 2014-04-24 | 2014-04-24 | A kind of bi-motor Driven by Coaxial gap control system that disappears |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106533271A (en) * | 2016-12-13 | 2017-03-22 | 中国兵器装备集团自动化研究所 | Variable-load dual-motor synchronous driving system and control method thereof |
| CN110194064A (en) * | 2019-06-26 | 2019-09-03 | 重庆大学 | Bi-motor integration pure electric vehicle passenger car power allocation strategy optimization method |
-
2014
- 2014-04-24 CN CN201420203069.XU patent/CN203984282U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106533271A (en) * | 2016-12-13 | 2017-03-22 | 中国兵器装备集团自动化研究所 | Variable-load dual-motor synchronous driving system and control method thereof |
| CN110194064A (en) * | 2019-06-26 | 2019-09-03 | 重庆大学 | Bi-motor integration pure electric vehicle passenger car power allocation strategy optimization method |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141203 Termination date: 20150424 |
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| EXPY | Termination of patent right or utility model |