China Mechanical Engineering ›› 2022, Vol. 33 ›› Issue (22): 2684-2692.DOI: 10.3969/j.issn.1004-132X.2022.22.005

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Research on Backlash Elimination Method of Dual-motor Precision Transmission Mechanisms

ZHENG Jieji;CHEN Lingyu;FAN Dapeng;XIE Xin   

  1. College of Intelligence Science and Technology,National University of Defense Technology,Changsha,410073
  • Online:2022-11-25 Published:2022-12-22

双电机精密传动机构消隙方法研究

郑杰基;陈凌宇;范大鹏;谢馨   

  1. 国防科技大学智能科学学院,长沙,410073
  • 通讯作者: 谢馨(通信作者),男,1991年生,助理研究员。E-mail:xiexin12@nudt.edu.cn。
  • 作者简介:郑杰基,男,1993年生,博士研究生。研究方向为机电伺服系统与数控。
  • 基金资助:
    国家重点基础研究发展计划(2019YFB2004700)

Abstract: Aiming at the problems of large speed fluctuation and impact caused by the gaps between the two transmission chains of the dual-motor precision transmission mechanisms, the method of eliminating the gaps of the system was studied. First, a mechanism dynamics model including the meshing clearances between the output gear of the planetary reducer and the large ring gear was established. Through the model simulation, the influences of the gap size on the system characteristics were analyzed. Then, a compound anti-backlash method was proposed combining dynamic bias torque based on speed command and cross-coupling synchronous control based on differential negative feedback. An experimental device for dual-motor precision transmission mechanisms was built, and the verification experiments of the anti-backlash method were carried out. The experimental results show that in the case of closed-loop speed, the proposed compound anti-backlash method may ensure the complete elimination of the system gaps, and may improve the system speed tracking accuracy by 73.38%, and the shock amplitude in the start-up phase may be attenuated by 76.35%. The research results lay a certain foundation for the research of the high-precision control method of the double-motor precision transmission mechanisms, and provide a reference scheme for the elimination of the gaps in the gear transmission systems. 

Key words: dual-motor precision transmission mechanism, dynamics model, backlash nonlinearity, composite anti-backlash method

摘要: 针对双电机精密传动机构两路传动链间隙引起的速度波动大与冲击的问题,对系统的间隙消除方法展开了研究。建立了包含行星减速器输出端齿轮与大齿圈啮合间隙的机构动力学模型,通过模型仿真分析了传动链间隙大小对系统特性的影响;在此基础上,提出了基于速度指令的动态偏置力矩和基于差速负反馈的交叉耦合同步控制相结合的复合消隙方法。搭建了双电机精密传动机构实验测试装置,进行了消隙方法的验证实验。实验结果表明,在简单的速度闭环情况下,所提的复合消隙方法不仅能够保证完全消除系统间隙,还可以将系统速度跟踪精度最大提高73.38%,启动阶段的冲击幅值最大衰减76.35%。研究成果为双电机精密传动机构高精度控制方法的进一步研究打下基础,为齿轮传动系统间隙的消除提供了一种参考方案。

关键词: 双电机精密传动机构, 动力学模型, 间隙非线性, 复合消隙方法

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