Abstract:

According to meshing states in backlash elimination process and typical working modes of dual motor
systems,torque relationships that met the requirements of sharing load and elimination backlash were established.The analysis results show that at  the opposite meshing state the motors need to provide a driving torque to drag load and a compensation torque to eliminate backlash at the same time;the output torque value of each motor reaches more than one time of that in the single-motor system to maintain the opposite meshing state.The compensation torque value will vary according to different states;and the output torques of two motors need to be controlled in a dynamic way if it is simultaneously required to share load and eliminate backlash．

Key words: dual motor drive, electronic backlash elimination, dynamic control, torque characteristics

摘要：

针对双电机驱动系统动态消隙过程中的啮合状态及典型运行模式，建立了系统在满足分担载荷及实现消隙作用条件下的力矩关系。分析结果表明:当系统处于异侧齿面啮合状态时,电机需要同时提供拖动负载的驱动力矩以及消除间隙的补偿力矩;为使系统维持异侧齿面啮合的消隙状态，每台电机的输出力矩需为单电机系统电机力矩的1倍以上;系统所处的运行状态不同，所需的消隙补偿力矩也不相同;若要求系统同时实现分担负载及消除间隙的作用，需要对两台电机的输出力矩实施动态控制。
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关键词: 双电机驱动, 电子消隙, 动态控制, 力矩特性