| Gear transmission is widely used in servo system to obtain big torque and lowspeed. Backlash, existing in the process of gear transmission, has much affects on theperformance of servo system. Therefore, research on anti-backlash methods isimportant for both theory and engineering. In this thesis, a technology of anti-backlashby dual-motor has been researched, based on the dual-motor driving system. The maincontents are concluded as follows:(1) Recent research status of the backlash nonlinearity and synchronizationproblem has been described in this thesis. The dynamical model of the dual-motordriving system has been set up by analyzing the basic structure of the dual-motordriving system.(2) The synchronous controller has been designed. Then, the effects ofsynchronization control have been analyzed, in the condition of discreteness of motorparameters, load torque disturbance and current disturbance. Simulation results verifythat synchronization control strategies can eliminate the influence caused bydifferential oscillation.(3) The methods of anti-backlash by dual-motor have been discussed, and a newmethod of anti-backlash based on variable Torque-bias is also proposed. By detailanalysis to the anti-backlash curve, Torque-bias equation is derived. Base on theequation, the model of anti-backlash is set up. Then, the relationship between the gapwidth and Torque-bias, the method of choosing Torque-bias at fixed gap width, and theinfluence of the time of remove the Torque-bias have been discussed. Through theanalysis of simulation results, we obtain the steps for setting Torque-bias whichprovides the theoretical basis for debugging, and verify that anti-backlash strategiescan eliminate the influence caused by backlash and improve the position controlaccuracy.(4) Finally, hardware and software of anti-backlash servo system by dual-motorhas been designed. Based on this, the methods of realization of the anti-backlash andsynchronous control have been put forward. |
PDF Full Text Request