| 双电机驱动关节的线性化控制研究 |
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| 引用本文： | 邱津集,孙佳男,冯同,宋家齐,孙春旺,王磊,刘威,李荣宁,郝双晖.双电机驱动关节的线性化控制研究[J].微电机,2021,0(5):44-50. |
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| 作者姓名： | 邱津集 孙佳男 冯同 宋家齐 孙春旺 王磊 刘威 李荣宁 郝双晖 |
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| 作者单位： | （1.哈尔滨工业大学 机电工程学院，黑龙江 哈尔滨 150001；2.哈尔滨理工大学 机械动力工程学院，黑龙江 哈尔滨 150080；3.北方导航控制技术股份有限公司，北京 100176；4.北京电子工程总体研究所，北京 100176） |
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| 摘 要： | 本文基于齿轮传动系统存在的齿隙非线性问题，提出了一种双电机驱动双主动齿轮啮合同一从动齿轮的驱动方案。设计了双电机协调控制算法，包括力矩线性化控制算法与单速度环速度反馈线性化控制算法，解决了电机齿轮传动系统运动过程中的齿隙非线性问题。本文首先介绍了双电机消隙原理与控制方案，然后建立双电机系统控制模型进行分析，最后搭建仿真模型进行控制方案的验证。仿真结果表明，本文所提出的双电机控制方案可以有效地解决齿轮传动中的齿隙非线性问题。
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| 关 键 词： | 双电机 齿轮背隙 协调控制 非线性 线性化 |
Research on Linearization Control of Dual Motor Driven Joints |
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| QIU Jinji,SUN Jianan,FENG Tong,SONG Jiaqi,SUNChunwang,WANG Lei,LIU Wei,LI Rongning,HAO Shuanghui.Research on Linearization Control of Dual Motor Driven Joints[J].Micromotors,2021,0(5):44-50. |
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| Authors: | QIU Jinji SUN Jianan FENG Tong SONG Jiaqi SUNChunwang WANG Lei LIU Wei LI Rongning HAO Shuanghui |
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| Affiliation: | (1.School of Mechatronics Engineering，Harbin Institute of Technology，Harbin 150001，China;2. Mechanical and Power Engineering College, Harbin University of Science and Technology, Harbin, 150080, China;3. North navigation and control technology Limited by Share Ltd, Beijing 100176, China;4. Beijing Institute of Electronic System Engineering, Beijing 100176, China) |
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| Abstract: | In this paper, in order to solve the nonlinear problem of backlash in gear drive system, a dual motor drive scheme has been proposed. This paper designed the coordinated control algorithm of dual motors, including torque linearization control algorithm and single speed loop speed feedback linearization control algorithm, which solved the backlash nonlinear problem in the process of motor gear transmission system movement. This paper first introduced the principle and control scheme of double motor. Then the control model of the dual motor system was established and analyzed. Finally, a simulation model was built to verify the control scheme. The simulation results showed that the dual motor control scheme proposed in this paper can effectively solve the problem of backlash nonlinearity in gear transmission. |
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| Keywords: | dual motor backlash of gear coordination control nonlinearity linearization |
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