【摘要】 为了提高机械传动系统的稳定性,针对电机驱动系统中的齿隙非线性问题,从动力学的角度对其产生过程进行描述分析并建立弹性作用力模型;通过机理分析法,对单电机伺服系统进行建模,并对其采用角差反馈控制法来减小齿隙非线性对系统性能的不良影响,并检验其有效性,在此基础上,研究了双电机驱动系统模型,考虑其电机的同步控制问题,最终进一步设计了关于双电机的差速补偿控制消隙方法,仿真结果验证了所采用的方法在控制系统消除齿隙方面的可行性。更多还原

【Abstract】 In order to improve the stability of mechanical transmission, aiming at the backlash nonlinear of motor servo system, from the viewpoint of dynamics to describe the production process and establish a flexible force model analysis; Trough the mechanism analysis, modeling for single-motor servo system, and its control method based on angular difference feedback is to reduce the negative of backlash nonlinear impact on system performance, and test its effectiveness, on this basis, study the dual-motor drive model, consider the synchronous of motor control, on the final further design the anti-backlash method by dual-motor based on differential compensation control, simulation results validate the feasibility of method on control system eliminating the backlash.更多还原