一种四电机驱动同步及消隙控制策略研究

Research of Four-motor Driven Control Strategy of Synchronization and Anti-backlash

针对龙门移动平台在运动过程中较难同步的问题,提出了一种基于开放式数控系统的四电机驱动同步及消隙控制策略.该策略采用双轴并行同步控制方法对两个同步轴进行位置调节;与此同时,采用齿轮齿条传动控制方法对两侧电机进行消隙控制;此外还将系统插补运算分离以提高控制频率与精度.’S’试件的加工测试结果表明,所提出的控制策略可使得龙门移动平台两端保持良好的位置同步.

Aiming at the difficulty of synchronization of gantry platform in the process of movement,a four-motor driven control strategy of synchronization and anti-backlash based on open CNC system is proposed. Dual axis parallel synchronous control method is adopted to adjust the position of synchronous shaft. At the same time,rack and pinion drive control method is adopted for backlash control. In addition,the interpolation operation of CNC system is separated to improve control frequency and accuracy. The processing result of " S" specimen shows that the proposed control strategy can keep the two ends of gantry platform in good position synchronization.