KR101635592B1 - Backlash estimation apparatus for gear reduction servo system - Google Patents
Backlash estimation apparatus for gear reduction servo system Download PDFInfo
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- KR101635592B1 KR101635592B1 KR1020150131746A KR20150131746A KR101635592B1 KR 101635592 B1 KR101635592 B1 KR 101635592B1 KR 1020150131746 A KR1020150131746 A KR 1020150131746A KR 20150131746 A KR20150131746 A KR 20150131746A KR 101635592 B1 KR101635592 B1 KR 101635592B1
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- resonance frequency
- frequency
- gear reduction
- servo system
- backlash
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/021—Gearings
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/14—Measuring arrangements characterised by the use of mechanical techniques for measuring distance or clearance between spaced objects or spaced apertures
- G01B5/16—Measuring arrangements characterised by the use of mechanical techniques for measuring distance or clearance between spaced objects or spaced apertures between a succession of regularly spaced objects or regularly spaced apertures
- G01B5/166—Measuring arrangements characterised by the use of mechanical techniques for measuring distance or clearance between spaced objects or spaced apertures between a succession of regularly spaced objects or regularly spaced apertures of gear teeth
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Abstract
A backlash estimating apparatus for a gear reduction servo system according to the present invention is disclosed. The apparatus for estimating backlash of a gear reduction servo system according to the present invention generates a frequency table including a first anti-resonance frequency and a first resonance frequency obtained for each gear backlash size through an analytical model modeling a gear reduction servo system A simulation section; A measuring unit for measuring a second anti-resonance frequency and a second resonance frequency of the gear reduction servo system; And an estimation unit estimating a backlash size of the gear reduction servo system using the measured second anti-resonance frequency, the second resonance frequency, and the generated frequency table.
Description
The present invention relates to a gear reduction servo system, and more particularly, to a backlash estimation apparatus for a gear reduction servo system that measures backlash using frequency response characteristics.
With the development of motor development technology, direct-drive motors without gear reducer have been developed and many mechanical systems without gear reducer have been developed. However, a mechanical system using a direct drive motor is larger in weight and size than a mechanical system using a gear reducer, while a mechanical system using a gear reducer is still widely used since the torque to be exerted is relatively small.
Servo systems using gear reducers have many problems associated with gear backlash. In a pair of gears, the conditions such as machining error, thermal expansion, deformation and smooth rotation require backlash of an appropriate size when the gear is engaged. When the backlash is small, it is difficult to smoothly move due to interference. When the backlash is too large, the vibration and the stability of the control are caused by the increase of the vibration impact (Vibro-impact). Therefore, in the system using the gear reducer, a method for maintaining and detecting the proper backlash size is needed.
In the past, mostly backlash estimation methods using mostly mechanical measuring devices or torque sensors and acceleration sensors have been mainly made. In this method, it is necessary to manufacture a measuring device according to the characteristics of each system, and measurement errors of the measuring device and the sensor itself Lt; / RTI >
SUMMARY OF THE INVENTION Accordingly, the present invention has been made to solve the above-mentioned problems occurring in the prior art, and it is an object of the present invention to provide an anti-resonance frequency and a resonance frequency for each gear backlash size in an analytical model, And a backlash estimating device for a gear reduction servo system for estimating a gear backlash size by comparing the antiresonance frequency and the resonance frequency value with values of a table stored in advance and comparing the values.
However, the objects of the present invention are not limited to those mentioned above, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.
In order to achieve the above objects, a backlash estimating apparatus for a gear reduction servo system according to an aspect of the present invention includes a first anti-resonance frequency and a first resonance frequency determined by gear backlash size, through an analytical model modeling a gear reduction servo system, A simulation unit for generating a frequency table including the frequency table; A measuring unit for measuring a second anti-resonance frequency and a second resonance frequency of the gear reduction servo system; And an estimator for estimating a backlash size of the gear reduction servo system using the measured second anti-resonance frequency, the second resonance frequency, and the generated frequency table.
Preferably, the estimating unit identifies the first anti-resonance frequency and the first resonance frequency in the frequency table coinciding with the measured second anti-resonance frequency and the second resonance frequency, And estimates a gear backlash size corresponding to one anti-resonance frequency and the first resonance frequency as a backlash size of the gear reduction servo system.
Preferably, the estimating section may calculate the second antiresonant frequency measured from the gear reduction servo system, the first antiresonant frequency in the frequency table in which the error index with the second resonance frequency is the minimum, And the corresponding gear backlash size is estimated as the backlash size of the gear reduction servo system.
Preferably, the error index is calculated by the following equation (Error_Index = | f AR, S - f AR, E | + | f R, S - f R, E | + | f D, S - f D, to obtain, here, f AR, S, f R, S are the first antiresonant frequency, the first represents the resonance frequency, respectively, f AR, E, f R, E is a second anti-resonance frequency, the second resonant frequency respectively, F D and S represent the difference between the first anti-resonance frequency and the first resonance frequency, and f D and E represent the difference between the second anti-resonance frequency and the second resonance frequency.
Preferably, the simulation unit measures a change in magnitude of a first anti-resonance frequency and a first resonance frequency represented by a frequency response characteristic expressed by a motor angular velocity with respect to a motor input voltage of the gear reduction servo system, Estimates the current backlash size inversely using the magnitude of the frequency and the magnitude of the first resonance frequency so that the inverse estimated current backlash magnitude matches the measured first antiresonant frequency and the first resonant frequency Thereby generating the frequency table.
Preferably, the simulation unit lowers the magnitude of the motor input voltage according to the specific backlash size of the analysis model to a predetermined threshold or less, and outputs the first anti-resonance frequency and the first anti-resonance frequency represented by the motor angular velocity, And a change in size of the first resonance frequency is measured.
The apparatus for estimating the backlash of the gear reduction servo system according to the present invention may further include a modeling unit for modeling the gear reduction servo system and generating an analysis model as a result of modeling the gear reduction servo system.
Preferably, the modeling unit models the gear reduction servo system, generates an analysis model as a result of modeling the gear reduction servo system, and sets a first system parameter set required for the components of the gear reduction servo system based on the set system parameters The system parameter set is determined as a system parameter of a component constituting the gear reduction servo system when the predicted performance value is higher than a predetermined target performance value, .
Preferably, the modeling unit resets the system parameter set if the predictive performance value is smaller than the target performance value.
Accordingly, in the present invention, the antiresonance frequency and the resonance frequency of the gear backlash size are obtained through an analytical model modeling an actual system and stored in advance in a table. Then, the anti-resonance frequency and the resonance frequency value, The backlash can be estimated without a separate sensor such as a mechanical measuring device, a torque sensor, and an acceleration sensor by estimating the gear backlash size as a result of the comparison.
Further, since the backlash can be estimated without a mechanical measuring device or a separate sensor, the present invention has an effect that system performance maintenance can be facilitated.
1 is a diagram showing the configuration of an overall system according to an embodiment of the present invention.
2A and 2B are diagrams showing changes in antiresonance and resonance frequency appearing on the frequency response characteristics with respect to changes in backlash and motor input voltage.
3 is a diagram illustrating an apparatus for estimating a backlash size according to an embodiment of the present invention.
4A-4B illustrate a gear reduction servo system in accordance with an embodiment of the present invention.
5 is a diagram illustrating a method for modeling an actual system according to the present invention.
Hereinafter, a backlash estimating apparatus for a gear reduction servo system according to an embodiment of the present invention will be described with reference to the accompanying drawings. The present invention will be described in detail with reference to the portions necessary for understanding the operation and operation according to the present invention.
In describing the constituent elements of the present invention, the same reference numerals may be given to constituent elements having the same name, and the same reference numerals may be given thereto even though they are different from each other. However, even in such a case, it does not mean that the corresponding component has different functions according to the embodiment, or does not mean that the different components have the same function. It should be judged based on the description of each component in the example.
Particularly, in the present invention, values of antiresonance frequency and resonance frequency according to the gear backlash size are obtained through analytical models modeling an actual system and stored in advance in a table. Then, antiresonance frequency and resonance frequency values obtained in the actual system are stored in a table And estimates the gear backlash size as a result of the comparison.
Generally, the frequency response characteristic of the system is insensitive to the change of the gear backlash size, and the change is not so large as to be able to detect the backlash size change. However, if the motor input voltage is sufficiently lowered to obtain the frequency response characteristic, the sensitivity of the anti-resonance frequency and the resonance frequency to the gear backlash is increased, and the change in the gear backlash size can be inversely estimated by measuring the change of the antiresonant frequency and the resonance frequency .
1 is a diagram showing the configuration of an overall system according to an embodiment of the present invention.
1, the overall system includes a gear reduction servo system 100 (hereinafter, referred to as " gear reduction servo system ") composed of a motor voltage amplifier 110, a gear reduction drive device 120, a motor angular velocity measurement sensor 130, and an angular velocity sensor output voltage filter 140 And a
The gear
The
Through the entire system of the present invention thus configured, it is possible to observe a change in the frequency response characteristic with respect to the backlash of the gear
2A and 2B are diagrams showing changes in antiresonance and resonance frequency appearing on the frequency response characteristics with respect to changes in backlash and motor input voltage.
Referring to FIG. 2A, the backlash and the change in the resonant frequency with changes in the motor input voltage are shown. The resonance frequency shows a gradual decrease until the motor input voltage is reduced below a certain voltage level for the same backlash, but then sharply decreases from below the constant voltage.
Referring to FIG. 2B, there is shown a change in antiresonance frequency according to a change in backlash and motor input voltage. The antiresonance frequency shows a tendency to decrease with respect to the backlash size over the motor input voltage. As with the resonance frequency, the antiresonance frequency shows a large decrease tendency from below the constant voltage level.
As the motor input voltage is reduced, the antiresonance frequency and the resonance frequency gradually decrease, and there is a significant decrease from a certain voltage.
In this case, since the antiresonance frequency change can be measured more stably than the resonance frequency change, it is more useful to observe the antiresonance frequency change amount when the backlash size change is detected, and the resonance frequency can be observed suddenly by sufficiently slowing down the motor input voltage .
Therefore, the basic idea of the present invention is to infer the change of the backlash size initially set by reducing the magnitude of the motor input voltage to obtain the change of the anti-resonance frequency and the resonance frequency appearing in the frequency response characteristic of the gear reduction servo system.
The
3 is a diagram illustrating an apparatus for estimating a backlash size according to an embodiment of the present invention.
3, the apparatus for estimating the backlash size according to the present invention includes a modeling unit 210, a
The modeling unit 210 may model the actual gear reduction servo system, for example, mathematically or model it using a dynamic analysis tool, and generate an analysis model as a result of the modeling.
4A-4B illustrate a gear reduction servo system in accordance with an embodiment of the present invention.
Referring to FIG. 4A, there is shown a schematic diagram of a first gear reduction servo system using a DC motor.
Referring to FIG. 4B, there is shown a model for the gear rotation part of the gear reduction servo system. In order to help understanding, the rotational motion of the motor, pinion, gear, and load is simulated by linear motion.
The
More specifically, the
At this time, when the backlash is zero (linear system), the motor angular velocity output The antiresonant frequency f AR is expressed by the following equation (1).
[Equation 1]
Where k eq and effect are the effective equivalent torsional stiffness [N · m / rad] of the system gear drive, and J L is the rotational moment of inertia [kg · m 2 ] of the load.
At this time, when the backlash is 0 (linear system), the resonance frequency f R appearing in the output of the motor angular velocity with respect to the torque exerted by the motor is expressed by the following equation (2).
&Quot; (2) "
Here, J m represents the rotational inertia moment [kg · m 2 ] of the motor rotor including the pinion, and N represents the gear ratio between the pinion and the gear.
The
The
The measuring unit 230 may measure the second anti-resonance frequency and the second resonance frequency of the gear reduction servo system.
The estimator 240 may estimate the backlash size of the corresponding gear reduction servo system using the measured second antiresonant frequency, the second resonant frequency, and the previously generated frequency table.
That is, the estimator 240 identifies the first anti-resonance frequency and the first resonance frequency in the frequency table coinciding with the measured second anti-resonance frequency and the second resonance frequency, The gear backlash size corresponding to the true frequency and the first resonance frequency can be estimated as the backlash size of the gear reduction servo system.
At this time, the fact that the frequencies are coincident means that the difference becomes minimum.
That is, the estimating unit 240 estimates the first anti-resonance frequency in the frequency table and the gear backlash size corresponding to the first resonance frequency, which are the measured second anti-resonance frequency and the second resonance frequency, It can be estimated as the backlash size of the servo system.
Here, the error index for determining whether or not the frequency is coincident is expressed by the following equation (3).
&Quot; (3) "
Error_Index = | f AR, S - f AR, E | + | fR , S -fR , E | + | f D, S - f D, E |)
Where f AR, S , f R and S represent the first anti-resonance frequency and the first resonance frequency, f AR, E , f R and E represent the second anti-resonance frequency and the second resonance frequency, f D and S represent the difference between the first anti-resonance frequency and the first resonance frequency, and f D and E represent the difference between the second anti-resonance frequency and the second resonance frequency.
The storage unit 250 may store a previously generated analysis model, a frequency table, and the like.
5 is a diagram illustrating a method for modeling an actual system according to the present invention.
As shown in FIG. 5, the control terminal according to the present invention can generate an analysis model as a result of modeling an actual gear reduction servo system and modeling the actual gear reduction servo system (S501).
Next, the control terminal can set the first system parameter set S required for the system components, such as the moment of inertia, the reduction ratio, the system stiffness, the total whitishness, and the like (S502). Here, the total backlash can be defined as the rotation angle of the subordinate lower end, which is measured at the final load rotation stage when the motor rotation shaft is fixed in the multi-stage gear reduction servo system.
Next, the control terminal performs the system servo performance prediction / analysis simulation based on the set system parameters, and obtains the predicted performance value as a result of performing the system servo performance prediction / analysis simulation (S503).
Next, the control terminal can compare the obtained predicted performance value with a predetermined target performance value (S504).
Next, if the predicted performance value is higher than the target performance value as a result of the comparison, the control terminal can determine the corresponding system parameter set as a parameter of a component constituting an actual system (S505).
On the other hand, if the predicted performance value is smaller than the target performance value as a result of the comparison, the control terminal can reset the corresponding system parameter set (S506) and obtain the predicted performance value based on the reset.
As the system parameter set for the real system is determined, the operator creates an actual system consisting of the components satisfying the corresponding system parameter set.
Next, the control terminal may measure the system parameters from the manufactured real system and generate a second system parameter set R including the measured system parameters (S507).
Next, the control terminal can check whether the second set of system parameters corresponds to the first set of system parameters (S508).
Next, the control terminal can measure the frequency response characteristic represented by the motor angular velocity with respect to the motor input voltage applied from the actual system (S509), if the result of the check matches.
On the other hand, if the control terminal does not coincide with the result of the check, the control terminal may determine that there is a problem with the components of the actual system parameters and notify the operator of the problem.
Next, the control terminal can calculate the first anti-resonance frequency and the first resonance frequency in the measured frequency response characteristic (S510).
Next, the control terminal performs simulation using the motor input voltage and backlash size applied to the actual system, and calculates the second anti-resonance frequency and the second resonance frequency as a result of the simulation (S511).
Next, the control terminal can calculate the error index using the calculated first anti-resonance frequency, first resonance frequency, second anti-resonance frequency, and second resonance frequency calculated (S512).
Next, the control terminal can confirm whether the error index is within a predetermined threshold (S513).
Next, the control terminal models the actual gear reduction servo system and completes the verification of the analytical model generated as a result of the modeling if the check result is within the threshold (S514).
On the other hand, if the control terminal is out of the threshold as a result of the check, the analysis model can be modified (S515). For example, the control terminal can more sophisticatedly model the simplified analytical model.
It is to be understood that the present invention is not limited to these embodiments, and all of the elements constituting the embodiments of the present invention described above are described as being combined or operated together. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. In addition, such a computer program may be stored in a computer-readable medium such as a USB memory, a CD disk, a flash memory, etc., and read and executed by a computer, thereby implementing embodiments of the present invention. As the storage medium of the computer program, a magnetic recording medium, an optical recording medium, a carrier wave medium, or the like may be included.
While the invention has been shown and described with reference to certain embodiments thereof, it will be apparent to those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.
100: Gear deceleration servo system
200: control terminal
210: Modeling unit
220:
230:
240:
250:
Claims (9)
A simulation unit for generating a frequency table including a first anti-resonance frequency and a first resonance frequency, which are obtained for each gear backlash size through an analytical model modeling the gear reduction servo system;
A measuring unit for measuring a second anti-resonance frequency and a second resonance frequency of the gear reduction servo system; And
An estimator for estimating a backlash size of the gear reduction servo system using the measured second anti-resonance frequency, the second resonance frequency, and the generated frequency table;
, Wherein the modeling unit
A first system parameter set required for a component of the gear reduction servo system is set, a simulation is performed based on the system parameter set, and a predicted performance value is obtained as a result of the simulation,
And decides the system parameter set as a system parameter of a component constituting the gear reduction servo system if the obtained predicted performance value is higher than a preset target performance value.
Wherein the estimating unit comprises:
Determining a first anti-resonance frequency and a first resonance frequency in the frequency table that match the measured second anti-resonance frequency and the second resonance frequency,
And estimates a gear backlash size corresponding to a first anti-resonance frequency and a first resonance frequency in the frequency table as a backlash size of the gear reduction servo system.
Wherein the estimating unit comprises:
A second antiresonant frequency measured from the gear reduction servo system, a first anti-resonance frequency in the frequency table in which an error index with the second resonance frequency is minimum, a gear backlash size corresponding to the first resonance frequency, And estimates the backlash size of the gear reduction servo system based on the backlash size of the gear reduction servo system.
The error index,
Obtained by, where, f AR, (Error_Index = | f AR, S - f AR, E | + | f R, S - | - f R, E | | + f D, E f D, S) equation S, f R, S represents each of the first anti-resonance frequency, the first resonant frequency, f AR, E, f R, E denotes a second anti-resonance frequency, the second resonant frequency respectively, f D, S is Wherein a difference between a first antiresonant frequency and a first resonance frequency is represented by f D and E , and f D and E represent a difference between a second antiresonant frequency and a second resonance frequency.
The simulation unit includes:
Wherein the change in magnitude of the first anti-resonance frequency and the first resonance frequency represented by the frequency response characteristic represented by the motor angular velocity with respect to the motor input voltage of the gear reduction servo system is measured,
Estimates the current backlash size inversely using the magnitude of the measured first antiresonant frequency and the first resonant frequency,
And the frequency table is generated by matching the inversely estimated current backlash size with the measured first antiresonant frequency and the first resonant frequency corresponding thereto.
The simulation unit includes:
A first anti-resonance frequency and a first resonance frequency represented by a frequency response characteristic expressed by a motor angular velocity with respect to a motor input voltage lowered by decreasing a magnitude of a motor input voltage according to a specific backlash size of the analytical model to a predetermined threshold value, Wherein the backlash estimating device measures the change of the backlash.
The modeling unit,
And if the predictive performance value is smaller than the target performance value, resets the corresponding system parameter set.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06148032A (en) * | 1992-05-27 | 1994-05-27 | N F Keisoku Syst:Kk | Backlash measuring apparatus for stepping motor |
| JPH0843258A (en) * | 1994-07-29 | 1996-02-16 | Mazda Motor Corp | Gear inspecting device |
| JP2009537800A (en) * | 2006-05-15 | 2009-10-29 | シーメンス アクチエンゲゼルシヤフト | Method and production machine or robot for backlash inspection |
| KR20120108235A (en) * | 2011-03-23 | 2012-10-05 | 삼성전자주식회사 | Method and apparatus for determining optimized parameter for measuring biological signal based on virtual body model |
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- 2015-09-17 KR KR1020150131746A patent/KR101635592B1/en active IP Right Grant
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06148032A (en) * | 1992-05-27 | 1994-05-27 | N F Keisoku Syst:Kk | Backlash measuring apparatus for stepping motor |
| JPH0843258A (en) * | 1994-07-29 | 1996-02-16 | Mazda Motor Corp | Gear inspecting device |
| JP2009537800A (en) * | 2006-05-15 | 2009-10-29 | シーメンス アクチエンゲゼルシヤフト | Method and production machine or robot for backlash inspection |
| KR20120108235A (en) * | 2011-03-23 | 2012-10-05 | 삼성전자주식회사 | Method and apparatus for determining optimized parameter for measuring biological signal based on virtual body model |
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