多电机同步联动系统的动力学分析与建模

Dynamics analysis and modeling of multi-motor synchronized driving system

以双电机同步联动伺服系统为例 ,研究了多电机同步联动系统的机械结构以及齿轮间的啮合关系 .利用机理分析法 ,分析了齿轮啮合动力学的原理以及多电动机联动的动力学 .将电机侧的参数折算到负载侧 ,首次建立了双电机同步联动伺服系统的无齿隙理想动力学模型 .通过齿隙特性的分析 ,建立了含齿隙双电机同步联动伺服系统的动力学模型 ,给出了双电机同步联动系统结构图模型和状态方程模型 ,并推导出了含齿隙的多电机同步联动系统的动力学一般模型 .

As an example of multi-motor synchronized driving system, the mechanical struct ure of a dual-motor synchronized driving system and the mesh relations between gears are studied. By mechanism analysis method, the dynamics principle of gear mesh and dynamics of multi-motor synchronized driving are analyzed. Ideal model of the dual-motor synchronized driving system without backlash is built by converting parameters on motor sides to those on load side. By analyzing back lash property, dynamics model of dual-motor driving system with backlash is bui lt. Structure diagrams and state functions of the system are presented. The gene ral dynamic functions of the multi-motor synchronized driving system with backl ash are deduced.