CN205001492U - Electric synchronous backlash eliminating equipment of RPDC - Google Patents
Electric synchronous backlash eliminating equipment of RPDC Download PDFInfo
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- CN205001492U CN205001492U CN201520742732.8U CN201520742732U CN205001492U CN 205001492 U CN205001492 U CN 205001492U CN 201520742732 U CN201520742732 U CN 201520742732U CN 205001492 U CN205001492 U CN 205001492U
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- control module
- driver
- motor
- rpdc
- eliminating equipment
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Abstract
The utility model provides an electric synchronous backlash eliminating equipment of RPDC, electric synchronous backlash eliminating equipment of RPDC includes: main motor, follow motor, master driver and follow driver, main motor with the master driver electricity is connected, from the motor with connect from the driver electricity, the master driver with connect from the driver electricity to the real -time exchange crack parameter that disappears in step. The utility model discloses a set up the master driver reaches from driver separately -driven main motor reaches realize the electric crack function that disappears in step from the motor, do not need upper system such as PLC, motion control ware or CNC to intervene, the master driver with it is shorter from the data synchronisation cycle between the driver, the 125 mu s that only have an appointment, disappearing, crack response speed is fast, the precision is high, the master driver with the follow driver exchanges in real time, the average current reference value, guarantees main motor reaches from the motor equilibrium of exerting oneself.
Description
Technical field
The utility model belongs to field of electromechanical integration, particularly a kind of RPDC electric synchronization backlash eliminating equipment.
Background technique
On large-scale, heavy machine tool, straight-line feed axle uses the kind of drive of gear rack usually, turning axle adopts the kind of drive of gear-wheel gear-ring usually, engagement between gear certainly exists the problem of mechanical clearance, this problem can reduce gear-driven efficiency, accelerates gear wear, and can reduce the mechanical rigid of whole transmission system, the problems such as easy generation resonance, noise, finally affect lathe operating accuracy.Therefore, how eliminating mechanical clearance is the problem that large-scale, heavy machine tool must solve.
Traditional machine tool generally adopts the mode of the reverse pretension of Double-gear to eliminate mechanical clearance, and pretightening force is realized by Automatic manual transmission, and namely mechanical synchronization disappears gap.If pretightening force by actuation gear two actuating motors between tension force realize, be then called that electric synchronization disappears gap.To disappear gap relative to traditional mechanical synchronization, the gap that electrically disappears method has the following advantages:
1. resetting and absolute fix precision higher.
2. avoid complicated mechanical structure, reduce machine cost.
3. the gap that disappears parameter is configurable, and use flexibly, application surface is wider.
But, existing electric synchronization disappears in gap method, need by PLC (ProgrammableLogicController, programmable logic controller (PLC)), the Upper system such as motion controller or CNC (ComputerNumericalControl, computerized numerical system) carries out intervention and could realize synchronous backlash-eliminating function; Meanwhile, existing electric synchronization disappears in gap method, and the gap that disappears speed of response is comparatively slow, and precision is not high enough.
The utility model, for the shortcoming of existing electric synchronization backlash eliminating equipment, proposes a kind of RPDC (RackandPinionDriveControl, the drived control of wheel and rack) electric synchronization backlash eliminating equipment.
Model utility content
The shortcoming of prior art in view of the above, the purpose of this utility model is to provide a kind of RPDC electric synchronization backlash eliminating equipment, for solve electric synchronization in prior art disappear needs that gap exists could realize synchronous backlash-eliminating function by Upper system intervention and the gap speed of response that disappears comparatively slow, the problem that precision is not high enough.
For achieving the above object and other relevant objects, the utility model provides a kind of RPDC electric synchronization backlash eliminating equipment, and described RPDC electric synchronization backlash eliminating equipment comprises: mair motor, from motor, host drive and from driver;
Described mair motor is electrically connected with described host drive, is describedly connected from actuator electrical from motor with described;
Described host drive is connected from actuator electrical with described, and real-time exchange synchronous backlash-eliminating parameter.
As a kind of preferred version of RPDC electric synchronization backlash eliminating equipment of the present utility model, described host drive and be describedly equipped with sync card in driver, described host drive and describedly realize electrical connection from driver by described sync card, and by described sync card real-time exchange synchronous backlash-eliminating parameter.
As a kind of preferred version of RPDC electric synchronization backlash eliminating equipment of the present utility model, described RPDC electric synchronization backlash eliminating equipment also comprises gear and tooth bar or gear ring; Described mair motor and described from motor be suitable for drive the described gear corresponding with it engage with described tooth bar or gear ring.
As a kind of preferred version of RPDC electric synchronization backlash eliminating equipment of the present utility model, described mair motor and be describedly actuating motor from motor, described host drive and be describedly servo driver from driver.
As a kind of preferred version of RPDC electric synchronization backlash eliminating equipment of the present utility model, describedly in driver, be also provided with process adjustments module, described process adjustments module is electrically connected with described host drive.
As a kind of preferred version of RPDC electric synchronization backlash eliminating equipment of the present utility model, in described host drive, be provided with position control module and First Speed control module, describedly in driver, be provided with second speed control module:
Described position control module is suitable for according to the physical location of described host drive with reference to obtaining reference speed value;
The input end of described First Speed control module and described second speed control module is electrically connected with the output terminal of described position control module, is suitable for not obtaining the first torque current reference value and the second torque current reference value according to the difference of respective values for actual speed and described reference speed value;
The input end of described process adjustments module is electrically connected with the output terminal of described First Speed control module and described second speed control module, and the output terminal of described process adjustments module is electrically connected with the input end of described second speed control module, described first torque current reference value and described second torque current reference value is suitable for compare, and the deviation both compensating.
As a kind of preferred version of RPDC electric synchronization backlash eliminating equipment of the present utility model, in described host drive, be also provided with the first current control module, describedly in driver, be also provided with the second current control module:
The input end of described first current control module is electrically connected with the output terminal of described First Speed control module, the actual current value being suitable for controlling mair motor with superposed with the gap bias current that disappears by the described first torque current reference value after compensating after obtain the first input reference current value and be consistent;
The input end of described second current control module is electrically connected with the output terminal of described second speed control module, is suitable for controlling obtaining the second input reference current value after gap bias current subtracts each other and being consistent with by the described second torque current reference value after compensating from the actual current value of motor with disappearing.
As mentioned above, RPDC electric synchronization backlash eliminating equipment of the present utility model, has following beneficial effect:
(1). realize electric synchronization by driver and to disappear gap function, do not need the Upper system interventions such as PLC, motion controller or CNC.
(2) host drive and shorter from the data syn-chronization cycle between driver, only have an appointment 125 μ s, and the gap that disappears fast response time, precision are high.
(3) host drive with from driver real-time exchange, average current reference value, ensure two motor torque equilibriums.
Accompanying drawing explanation
Fig. 1 shows the connection diagram of RPDC electric synchronization backlash eliminating equipment of the present utility model.
Fig. 2 shows host drive and the structural representation from driver in RPDC electric synchronization backlash eliminating equipment of the present utility model.
Element numbers explanation
1 mair motor
2 from motor
3 host drives
31 position control module
32 First Speed control modules
4 from driver
41 process adjustments modules
42 second speed control modules
5 sync cards
Embodiment
Below by way of specific instantiation, mode of execution of the present utility model is described, those skilled in the art the content disclosed by this specification can understand other advantages of the present utility model and effect easily.The utility model can also be implemented or be applied by embodiments different in addition, and the every details in this specification also can based on different viewpoints and application, carries out various modification or change not deviating under spirit of the present utility model.
Refer to Fig. 1 to Fig. 2 it should be noted that, the diagram provided in the present embodiment only illustrates basic conception of the present utility model in a schematic way, though only show the assembly relevant with the utility model in diagram but not component count, shape and size when implementing according to reality is drawn, it is actual when implementing, and the kenel of each assembly, quantity and ratio can be a kind of change arbitrarily, and its assembly layout kenel also may be more complicated.
Refer to Fig. 1 to Fig. 2, the utility model provides a kind of RPDC electric synchronization backlash eliminating equipment, and described RPDC electric synchronization backlash eliminating equipment comprises: mair motor 1, from motor 2, host drive 3 and from driver 4; Described mair motor 1 is electrically connected with described host drive 3, is describedly electrically connected from driver 4 from motor 2 with described; Described host drive 3 is electrically connected from driver 4 with described, and real-time exchange synchronous backlash-eliminating parameter.
Exemplarily, described host drive 3 and be describedly equipped with sync card 5 in driver 4, described host drive 3 and describedly realize electrical connection from driver 4 by described sync card 5, and by described sync card 5 real-time exchange synchronous backlash-eliminating parameter.
Exemplarily, described RPDC electric synchronization backlash eliminating equipment also comprises gear (not shown) and tooth bar (not shown) or gear ring (not shown); Described mair motor 1 and described from motor 2 be suitable for drive the described gear corresponding with it engage with described tooth bar or gear ring.
Exemplarily, described mair motor 1 and describedly can be actuating motor from motor 2, described host drive 3 and describedly can be servo driver from driver 4.
Exemplarily, describedly in driver 4, be also provided with process adjustments module 41, described process adjustments module 41 is electrically connected with described host drive 3; Described process adjustments module 41 is suitable for the difference between current between compensation two drivers.
Exemplarily, refer to Fig. 2, in described host drive 3, be provided with position control module 31 and First Speed control module 32, describedly in driver 4, be provided with second speed control module 42.Described position control module 31 is suitable for obtaining reference speed value according to the physical location of described host drive 3 and reference position; The input end of described First Speed control module 32 and described second speed control module 42 is electrically connected with the output terminal of described position control module 31, is suitable for not obtaining the first torque current reference value and the second torque current reference value according to the difference of respective values for actual speed and described reference speed value; The input end of described process adjustments module 41 is electrically connected with the output terminal of described First Speed control module 32 and described second speed control module 42, and the output terminal of described process adjustments module 41 is electrically connected with the input end of described second speed control module 42, described first torque current reference value and described second torque current reference value is suitable for compare, and the deviation both compensating.
Exemplarily, in described host drive 3, be also provided with the first current control module (not shown), describedly in driver 4, be also provided with the second current control module (not shown); The input end of described first current control module is electrically connected with the output terminal of described First Speed control module 32, be suitable for being converted into corresponding PWM (pulse duration modulation) duty cycle signals by obtaining the first input reference current value after being superposed with the gap bias current that disappears by the described first torque current reference value after compensating, make the actual current moment of described mair motor 1 follow the tracks of described first input reference current value, and the actual current value and described first controlling described mair motor 1 input reference current value is consistent; The input end of described second current control module is electrically connected with the output terminal of described second speed control module 42, be suitable for being converted into corresponding PWM (pulse duration modulation) duty cycle signals by obtaining the second input reference current value after being subtracted each other with the gap bias current that disappears by the described second torque current reference value after compensating, make follow the tracks of described second input reference current value the described actual current moment from motor 2, and control to input reference current value from the actual current value and described second of motor 2 and be consistent.
It should be noted that, described technique adjustment module 41, described position control module 31, described First Speed control module 32, described first current control module, described second speed control module 42 and described second current control module are virtual module.
The utility model, by arranging described host drive 3 and describedly driving described mair motor 1 respectively from driver 4 and describedly realize electric synchronization from motor 2 and to disappear gap function, does not need the Upper system interventions such as PLC, motion controller or CNC; Described host drive 3 and described shorter from the data syn-chronization cycle between driver 4, only have an appointment 125 μ s, and the gap that disappears fast response time, precision are high; Described host drive 3, with described from driver 4 real-time exchange, average current reference value, ensures described mair motor 1 and described from motor 2 torque equilibrium.
Refer to Fig. 2, the gap principle that disappears of described RPDC electric synchronization backlash eliminating equipment of the present utility model is:
Described position control module 31 is according to physical location deviation (i.e. physical location ε
actwith reference position ε
refdifference), calculate reference speed value n
ref;
By described reference speed value n
refgiven simultaneously as described First Speed control module 32 and described second speed control module 42, described First Speed control module 32 is according to the values for actual speed n of described host drive 3
act, Mwith described reference speed value n
refdifference (the i.e. values for actual speed n of described host drive 3
act, Mwith described reference speed value n
refdifference) calculate the first moment reference value i
sqref, scon, M; Described second speed control module 42 is according to the described values for actual speed n from driver 4
act, Swith described reference speed value n
refdifference (the i.e. described values for actual speed n from driver 4
act, Swith described reference speed value n
nefdifference) obtain the second moment reference value i
sqref, scon, S;
Described host drive 3 passes through the first moment reference value i described in sync card 5 real-time exchange with described from driver 4
sqref, scon, Mand described second moment reference value i
sqref, scon, S; Described process adjustments module 41 is by described first moment reference value i
sqref, scon, Mand described second moment reference value i
sqref, scon, Scompare, and the deviation both compensating;
At described first torque current reference value i
sqref, scon, Mand described second torque current reference value i
sqref, scon, Sthe gap bias current i that disappears that the upper size of applying is respectively identical
sq, bias, Mand i
sq, bias, S, described in disappear gap bias current i
sq, bias, Mwith the described first moment reference value i after compensation
sqref, scon, Mdescribed first current control module is exported to as the first input reference current value after addition, described first input reference current value is converted into corresponding PWM (pulse duration modulation) duty cycle signals by described first current control module, make the actual current moment of described mair motor 1 follow the tracks of described first input reference current value, and the actual current value and described first controlling described mair motor 1 input reference current value is consistent; By the described gap bias current i that disappears
sq, bias, Swith the described second moment reference value i after compensation
sqref, scon, Ssubtract each other rear as second input reference current value export to whose Sou second current control module, described second input reference current value is converted into corresponding PWM (pulse duration modulation) duty cycle signals by described second current control module, make follow the tracks of described second input reference current value the described actual current moment from motor 2, and control to input reference current value from the actual current value and described second of motor 2 and be consistent.
It should be noted that, the circle in Fig. 2 represents numerical operation, does not have the expression of "-" to be added, has the expression of "-" to subtract each other.
In sum, the utility model provides a kind of RPDC electric synchronization backlash eliminating equipment, and described RPDC electric synchronization backlash eliminating equipment comprises: mair motor, from motor, host drive and from driver; Described mair motor is electrically connected with described host drive, is describedly connected from actuator electrical from motor with described; Described host drive is connected from actuator electrical with described, and real-time exchange synchronous backlash-eliminating parameter.The utility model, by arranging described host drive and describedly driving described mair motor respectively from driver and describedly realize electric synchronization from motor and to disappear gap function, does not need the Upper system interventions such as PLC, motion controller or CNC; Described host drive and described shorter from the data syn-chronization cycle between driver, only have an appointment 125 μ s, and the gap that disappears fast response time, precision are high; Described host drive and described from driver real-time exchange, average current reference value, ensures described mair motor and described from motor torque equilibrium.
Above-described embodiment is illustrative principle of the present utility model and effect thereof only, but not for limiting the utility model.Any person skilled in the art scholar all without prejudice under spirit of the present utility model and category, can modify above-described embodiment or changes.Therefore, such as have in art and usually know that the knowledgeable modifies or changes not departing from all equivalences completed under the spirit and technological thought that the utility model discloses, must be contained by claim of the present utility model.
Claims (7)
1. a RPDC electric synchronization backlash eliminating equipment, is characterized in that, described RPDC electric synchronization backlash eliminating equipment comprises: mair motor, from motor, host drive and from driver;
Described mair motor is electrically connected with described host drive, is describedly connected from actuator electrical from motor with described;
Described host drive is connected from actuator electrical with described, and real-time exchange synchronous backlash-eliminating parameter.
2. RPDC electric synchronization backlash eliminating equipment according to claim 1, it is characterized in that: described host drive and be describedly equipped with sync card in driver, described host drive and describedly realize electrical connection from driver by described sync card, and by described sync card real-time exchange synchronous backlash-eliminating parameter.
3. RPDC electric synchronization backlash eliminating equipment according to claim 1, is characterized in that: described RPDC electric synchronization backlash eliminating equipment also comprises gear and tooth bar or gear ring; Described mair motor and described from motor be suitable for drive the described gear corresponding with it engage with described tooth bar or gear ring.
4. RPDC electric synchronization backlash eliminating equipment according to claim 1, is characterized in that: described mair motor and be describedly actuating motor from motor, described host drive and be describedly servo driver from driver.
5. RPDC electric synchronization backlash eliminating equipment according to claim 1, is characterized in that: describedly in driver, be also provided with process adjustments module, and described process adjustments module is electrically connected with described host drive.
6. RPDC electric synchronization backlash eliminating equipment according to claim 5, is characterized in that: be provided with position control module and First Speed control module in described host drive, describedly in driver, is provided with second speed control module:
Described position control module is suitable for obtaining reference speed value according to the physical location of described host drive and reference position;
The input end of described First Speed control module and described second speed control module is electrically connected with the output terminal of described position control module, is suitable for not obtaining the first torque current reference value and the second torque current reference value according to the difference of respective values for actual speed and described reference speed value;
The input end of described process adjustments module is electrically connected with the output terminal of described First Speed control module and described second speed control module, and the output terminal of described process adjustments module is electrically connected with the input end of described second speed control module, described first torque current reference value and described second torque current reference value is suitable for compare, and the deviation both compensating.
7. RPDC electric synchronization backlash eliminating equipment according to claim 6, is characterized in that: be also provided with the first current control module in described host drive, describedly in driver, is also provided with the second current control module:
The input end of described first current control module is electrically connected with the output terminal of described First Speed control module, the actual current value being suitable for controlling mair motor with superposed with the gap bias current that disappears by the described first torque current reference value after compensating after obtain the first input reference current value and be consistent;
The input end of described second current control module is electrically connected with the output terminal of described second speed control module, is suitable for controlling obtaining the second input reference current value after gap bias current subtracts each other and being consistent with by the described second torque current reference value after compensating from the actual current of motor with disappearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520742732.8U CN205001492U (en) | 2015-09-23 | 2015-09-23 | Electric synchronous backlash eliminating equipment of RPDC |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520742732.8U CN205001492U (en) | 2015-09-23 | 2015-09-23 | Electric synchronous backlash eliminating equipment of RPDC |
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| Publication Number | Publication Date |
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| CN205001492U true CN205001492U (en) | 2016-01-27 |
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| CN201520742732.8U Expired - Fee Related CN205001492U (en) | 2015-09-23 | 2015-09-23 | Electric synchronous backlash eliminating equipment of RPDC |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105156654A (en) * | 2015-09-23 | 2015-12-16 | 路斯特运动控制技术（上海）有限公司 | RPDC (Rack and Pinion Drive Control) electrical synchronization gap elimination device and gas elimination method thereof |
| CN109921693A (en) * | 2018-12-21 | 2019-06-21 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of more motors electrically disappear gap and automatic fault partition method |
-
2015
- 2015-09-23 CN CN201520742732.8U patent/CN205001492U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105156654A (en) * | 2015-09-23 | 2015-12-16 | 路斯特运动控制技术（上海）有限公司 | RPDC (Rack and Pinion Drive Control) electrical synchronization gap elimination device and gas elimination method thereof |
| CN105156654B (en) * | 2015-09-23 | 2018-08-31 | 路斯特运动控制技术（上海）有限公司 | RPDC electric synchronizations backlash eliminating equipment and its gap method that disappears |
| CN109921693A (en) * | 2018-12-21 | 2019-06-21 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of more motors electrically disappear gap and automatic fault partition 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: 20160127 Termination date: 20190923 |
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| CF01 | Termination of patent right due to non-payment of annual fee |