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[1]孙龙飞,房立金.基于变偏置力矩的双电机系统消隙控制方法研究[J].电机与控制学报,2017,21(03):89-96.[doi:10.15938/j.emc.2017.03.013]
 SUN Long-fei,FANG Li-jin.Anti-backlash control method of dual-motor driving system based on switching bias torque[J].,2017,21(03):89-96.[doi:10.15938/j.emc.2017.03.013]
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基于变偏置力矩的双电机系统消隙控制方法研究(PDF)
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
21
期数:
2017年03
页码:
89-96
栏目:
出版日期:
2017-03-01

文章信息/Info

Title:
Anti-backlash control method of dual-motor driving system based on switching bias torque
作者:
孙龙飞房立金
?(东北大学机械工程与自动化学院,辽宁沈阳110819)
Author(s):
SUN Long-fei FANG Li-jin
?(School of Mechanical Engineering and Automation Nortlieasterii University Shenyang 110819,China)
关键词:
双电机系统 间隙 消隙控制 变偏置力矩 负载电流
Keywords:
dual-motor system backlash anti-backlash control switching bias torque load current
分类号:
TP 27
DOI:
10.15938/j.emc.2017.03.013
文献标志码:
A
摘要:
针对双电机驱动控制系统,提出一种基于电机电流的变偏置力矩消隙控制方法,根据电机的负载电流值及设定的转换函数L,动态输出偏置力矩以实现消隙控制与共同驱动控制之间的转换。同时,给出了转换函数中电流设定值的选取方法,该选取方法简便可行,为工程实际应用提供了理论依据。建立双电机驱动系统仿真模型对控制方法的有效性进行验证,仿真结果表明,采用变偏置力矩控制的双电机系统能够消除传动间隙;通过合理选取转换函数中的电流设定值,可降低静态下的电机间偏置力矩,从而降低系统能耗;偏置力矩的动态输出提高了双电机驱动系统的力矩输出能力。
Abstract:
A swathing bias torque anti-backlash control method based on motor load current was proposed for dual-motor drive system. Depending on the motor current and the switching function w the bias torque was output dynamically to realize the transformation from anti-backlash control to torque synchronization control. Meanwhile, the method of selecting the current setting point in the switching function was presen-ted , and the method was simple and feasible which provides a theoretical basis For the practical application of engineering. A simulation model was established to verify effectiveness of the control Control method.the resuits show that the backlash of dual-motor system is eliminated utilizing the switching bias torque control,
the bias tor(que between two motors decrease as well as the energy consumption through the reasonable selection of the current setting point of the switching function and the driving ability of dual-motor system is improved due to the dynamic bias torque control.

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备注/Memo

备注/Memo:
收稿日期:2014-11 -10
基金项目:国家自然科学基金(51575092);辽宁重大装备制造协同创新中心项目
作者简介:孙龙飞(1987—$,男,博士研究生,研究方向为双电机驱动系统消隙控制方法;
房立金(1965—),男,博士,教授,博士生导师,研究方向为机器人与自动化装备、仿生机械与仿生控制等
更新日期/Last Update: 2017-04-01