An Elaborate Dynamic Model of the Dual-Motor Precision Transmission Mechanism for Performance Optimization

被引:0
|
作者
Zheng, Jieji [1 ]
Xie, Xin [1 ]
Tan, Ruoyu [1 ]
Chen, Lingyu [1 ]
Li, Baoyu [1 ]
Fan, Dapeng [1 ]
机构
[1] Natl Univ Def Technol, Coll Intelligence Sci & Technol, Changsha 410073, Peoples R China
基金
国家重点研发计划;
关键词
dual-motor precision transmission mechanism; detailed linear model; dead zone; friction; DRIVING SERVO SYSTEMS; NONLINEAR DYNAMICS; TRACKING CONTROL; SLIDING MODE; BACKLASH; SYNCHRONIZATION; IDENTIFICATION; DESIGN;
D O I
10.3390/machines10121181
中图分类号
TM [电工技术]; TN [电子技术、通信技术];
学科分类号
0808 ; 0809 ;
摘要
The dual-motor precision transmission mechanism (DMPTM) is an alternative way to eliminate backlash while ensuring the stiffness of the servo system. However, most of the established models of DMPTM are not accurate enough, and are not conducive to the optimization of system performance and the design of high-precision controllers. In this paper, based on the detailed linear model of the single components of the DMPTM, the dead-zone model, considering the time-varying stiffness, is proposed to describe the backlash of the two transmission chains, and the friction of the mechanism is depicted by the Stribeck model. Then, a high-precision dynamic model of the DMPTM is formed. Finally, the model validation experiments for the open-loop and closed-loop are carried out in the time domain and frequency domain. The experimental results show that the proposed model can accurately describe the nonlinear characteristics of the mechanism. The Pearson correlation coefficient between the proposed model and the actual system is ropen-loop > 99.41%, for the open-loop, and rclosed-loop > 83.7%, for the closed-loop, and these results are both better than those of the existing model. In the frequency domain, whether it is the open-loop or closed-loop model, the frequency response of the proposed model also reproduces the actual system well, which verifies the accuracy of the model.
引用
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页数:17
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