Dual-motor Servo Systems With Backlash For Heavy Machine Rotary Table

For heavy-duty machine tools, it requires a servo system to maintain at high power conditions with low speed, and high torque output steadily. Heavy machine in the field, often using gear for the driving system which can output high torque at low speeds. But a gear in design, manufacture, assembly, it is inevitable to introduce backlash. The gap between the two gear, reducing the performance and accuracy of the servo system. If Engineers do not take appropriate measures to eliminate the backlash, which can cause the system to run unstable; meanwhile, it will produce collisions of rigid reverse gear when accompanied by severe vibration and noise, this is particularly evident in the heavy-duty machine tools. Therefore, the backlash compensation is an important part of high precision machine tool research.The main contents are:Research the various common backlash model, analyze their characteristics and scope, and describes the traditional methods by improving the mechanical structure eliminates backlash; and analyzes the dual-motor drive system eliminates gear(rack) clearance machinery principle and control methods.Analysis of the backlash process and the forces dual-motor drive system, mathematically deduced kinetic model dual-motor drive system backlash of the rotary table.The dynamic model of dual-motor drive system based backlash, and drew backlash control Siemens 840 D CNC system, construct a dual motor control system Simulink simulation model, and the preparation of a double motor backlash simulation software by simulation of bias torque and backlash effect relationship.Heavy Machine Tool Plant in a rotary table carried out experiments backlash,factors in the choice of the initial value of the bias current, you can not consider the value of the machine's speed and acceleration, set the initial value of the torque bias can be then adjusted according to the actual situation on-site machine tools, test verification, theory and methods described herein can meet the heavy rotary table backlash requirements.