基于变偏置力矩的双电机系统消隙控制方法研究

摘要

A switching 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 presented,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 method.The results show that the backlash of dual-motor system is eliminated utilizing the switching bias torque control,the bias torque 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.%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.