基于转矩补偿的双电机驱动消隙控制系统

作者：梁任，方强* 日期：2010-06-28/span> 浏览：3442 查看PDF文档

基于转矩补偿的双电机驱动消隙控制系统
梁任，方强*
(浙江大学 流体传动及控制国家重点实验室，浙江 杭州 310027)

摘要：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。
关键词：齿隙非线性；双电机驱动；消隙转矩
中图分类号：TP273文献标识码：A文章编号：1001-4551(2010)04-0016-05

Dualdrive antibacklash system based on torque compensation

LIANG Ren, FANG Qiang
(The State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China)

Abstract: 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 required 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.
Key words: backlash nonlinear; dualmotor driving; bias torque