摘要
针对行走机构双电动机驱动的严格同步要求,采用CAN(Controller Area Network)总线时钟同步协议实现同步组单轴速度指令的同步执行.为解决齿间隙造成的两轴实际速度不协调及刚性连接的两行走电动机间的耦合关系导致的负载不均衡问题,提出电动机电流跟随算法.实验结果表明,该算法保证了两轴同步运动的精度,实现了焊接小车快速平稳运行.
The traveling speed of all-position automatic pipeline welding carriage was controlled smoothly,which is an important guarantee for improving quality of welding.In allusion to the strict demand of synchronization of dual motor driving the running mechanism,CAN-bus clock synchronization was adopted for simultaneous executing speed synchronization for group command.Due to a load imbalance problem caused by the discordance of two-axis actual velocity by reason of gear backlash and the coupling relationships between two drive motor by rigid joint,the current follower arithmetic is proposed.Experimental result indicates that the accuracy of two-axle synchronous movement and the operation stability of welding bug are ensured by using the current follower arithmetic.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2010年第S1期167-170,共4页
Journal of Shanghai Jiaotong University
基金
国家高技术研究发展计划(863)项目(2006AA09A105)
北京市人才强教计划高层次人才项目(PHR20090519)
北京市新世纪百千万人才工程资助项目
关键词
全位置管道焊接
CAN总线时钟同步
组指令速度同步
电流跟随
all-position pipeline welding
CAN-bus clock synchronization
speed synchronization for group command
current follower
