双蜗杆消隙驱动控制系统的研究与仿真

Research and Simulation of Dual-Worm Anti-Backlash Drive Control System

天文望远镜驱动系统有大惯量、低转速、高精度的要求,并且存在大量的非线性干扰因素。以改进乌兹别克斯坦1米望远镜赤经轴和赤纬轴中蜗轮蜗杆传动项目为背景,综合望远镜的大小、速度、跟踪精度以及驱动系统资金投入等因素,对中小型望远镜提出一种双电机带动双蜗杆、双蜗杆啮合蜗轮带动负载的伺服驱动系统。首先建立了双电机双蜗杆驱动望远镜系统的动力学模型,在系统启动或换向时为消除传动间隙,对主从电机施加变偏置电流,同时双电机速度耦合采用和速负反馈同步机制,并用MATLAB/SIMULINK进行建模与仿真分析。结果表明,该双蜗杆系统能够较好的减小或消除蜗轮蜗杆传动过程中间隙引起的误差,可进一步进行实际系统的研究与应用。

Astronomicaltelescope drive system has high inertia, low speed and high precision requirements, and there are a lot of nonlinear interference factors. To improve the project of the worm and gear drive in the Uzbek 1m telescope and the declination axis, in consideration of the size,velocity,tracking accuracy and funding of astronomical telescope control system, the dual-motor and dual-worm is suitable for the small and medium-sized telescope system . First, the dynamic model of the double - worm - driven telescope system is built, then simulated and analyzed by MATLAB/SIMULINK. For anti-backlash at startup or reversing of the system,we apply bias current to dual-motor.And the dual-motor adapt summation speed feedback synchronization mechanism. The results show that the system could reduce or eliminate the errors caused by the gap in the process of worm and gear drive and could be further studied and applied in practical systems.