基于转矩补偿的双电机驱动消隙控制系统

Dual-drive anti-backlash system based on torque compensation

针对齿轮传动中存在的齿隙非线性,以双电机驱动作为消除齿隙的实现方式,从控制器设计的角度出发,根据所需消隙转矩与负载转矩、运动速度和加速度之间的关系,设计了实时消隙转矩补偿控制器实现系统完全消隙。理论分析和仿真研究结果表明,相对于定常消隙转矩补偿,实时消隙转矩补偿控制器能以较小的控制能量实现系统完全消隙。

Aiming at the nonlinear of the backlash in gear transmission, a dual-motor drive was used as a way to eliminate the backlash. From the perspective of controller design, according to the relationship between the reqnired bias torque and the torque, velocity, acceleration of the load, a real-time bias torque compensation controller was designed to completely eliminate the backlash of the system. Theoretical analysis and simulation results show that compared with the method of constant bias torque compensation, the controller can completely eliminate the backlash with using smaller control energy.