Research On Compensation Method Of Mechanical Deviation Of Gear In Servo System

As China attaches great importance to scientific and technological innovation and aerospace industry and increases the investment of talents in related industries,China has made remarkable achievements in various industrial fields,and its international status has been constantly promoted.The research on servo system has been developing rapidly and has received more and more attention.Therefore,how to improve the performance of the servo system while ensuring its original rapidity,reliability and maintainability has become the focus of current research.In this paper,the mechanical deviation compensation method of servo system is studied.The research object is six-phase induction motor.Aiming at the influence of the gear gap in the transmission process,an appropriate control method is selected to reduce the negative effect of the gear gap on the servo system.Firstly,the mechanical error of the gear in the servo system is studied.After comparing the advantages and disadvantages of the three kinds of gear gap models and their applicable conditions,the dead zone model is selected as the gear gap model of this subject.Then,according to the meshing model of gear transmission process,the meshing model of gear and rack transmission system is deduced.At the same time,the meshing analysis is also carried out for the moment when the manufacturing accuracy of the gear is no longer as high as when the gear is produced due to wear caused by friction during the long time of running.The concept of continuous tooth gap is introduced,and the continuous tooth gap module is added into the original inter-gear transmission process.Finally,the simulation results verify the effectiveness and feasibility of the rack and pinion drive model and the continuous gear gap drive model.Second,as this paper selected six phase motor adopt servo motor,according to the six phase motor stator structure,set up six phase motor in the d-q subspace subspace each parameter equation,and six dimensions of decoupling transformation,harmonic space under each parameter equation is obtained,and according to the above equations are six phase induction motor model construction.Thirdly,by analyzing the voltage vector distribution structure in six phase space,the original large vector SVPWM scheme and the intermediate vector SVPWM scheme are compared and analyzed.Finally,an optimal intermediate vector scheme with good suppression effect for the fifth harmonic is adopted as the scheme in this paper.Then,combining it with direct torque control,two schemes of direct torque control based on original large vector SVPWM and optimized intermediate vector SVPWM for six-phase motor are designed.The double closed-loop structure of current loop and velocity loop of the servo system is completed.Finally,the simulation proves that the optimized intermediate vector scheme can effectively suppress the influence of each voltage vector component in the fifth harmonic subspace on the whole system and suppress the harmonic current effectively.Finally,the gear gap model is combined with SVPWM direct torque control six-phase motor based on the optimized intermediate vector.The position ring of the outer ring of the servo system is extracted and PD is adjusted.Moreover,the feedback link of rotational speed difference of master and slave driving wheel is designed separately.Simulation results show that this control method can effectively reduce the impact of mechanical transmission error on the servo system,and effectively reduce the transmission torque and rotation speed fluctuation caused by the presence of the gear gap.It is verified that the negative effect of the gear gap on the transmission process in the servo system can be effectively reduced by using the appropriate control scheme,which is of certain practical value for the future research work.