基于变偏置力矩的双电机系统消隙控制方法研究

发布时间：2018-04-24 07:08

  本文选题：双电机系统 + 间隙　； 参考：《电机与控制学报》2017年03期

【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w,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 new control method based on motor current to eliminate the gap of variable bias torque is proposed for the double motor drive control system. According to the load current value of the motor and the set conversion function w, the offset torque is dynamically output to realize the conversion between the clearance elimination control and the common drive control. At the same time, the selection method of the current setting value in the conversion function is given, which is simple and feasible, and provides the theoretical basis for the practical application of engineering. The effectiveness of the control method is verified by establishing the simulation model of the dual-motor drive system. The simulation results show that the dual-motor system with variable offset torque control can eliminate the transmission clearance, and the current setting value in the conversion function is reasonably selected. The dynamic output of the bias torque can improve the torque output ability of the dual motor drive system by reducing the static bias torque between the motors and thus reducing the energy consumption of the system.
【作者单位】： 东北大学机械工程与自动化学院;
【基金】：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
【分类号】：TP273
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本文编号：1795648