System and Method for Drive Controller Anti-Backlash Control Topology
Method and system for backlash control in gear trains that are driven by electric drives controlled by a drive controller. The drive controller causes the drives to generate continuously opposing torques and adjusts torque rotational offsets so as to maintain desired backlash and gross motion of the driven gear.
1 . A method for operating a drive controller to control gear backlash in a gear train having at least a pair of first and second driving gears and at least one commonly driven gear, the driving gears being powered by respective first and second drives that are coupled to the drive controller, comprising simultaneously powering the first drive to cause first gear torque generation only in a first positive rotational direction and the second drive to cause second gear torque generation only in an opposite negative rotational direction, selectively varying the respective drive torque outputs with the drive controller in order to generate continuously opposing rotational torques and adjusting torque rotational offsets so as to maintain desired backlash torque among the respective gears during driven operation of the gear train and desired gross motion of the driven gear.
2 . The method of claim 1 wherein the drive controller adjusts torque rotational offsets by maintaining generally constant additional opposing backlash torque on both drives during their operation.
3 . The method of claim 2 further comprising controlling speed of the first drive with the drive controller and varying the respective torque outputs at least partially based on the first drive speed.
4 . The method of claim 1 further comprising controlling speed of the first drive with the drive controller and varying the respective torque outputs at least partially based on the first drive speed.
5 . The method of claim 1 further comprising sensing torque generated by the first and second drives and varying their respective generated drive torque at least partially based on the sensed torque.
6 . The method of claim 1 further comprising:
controlling speed of the first drive with the drive controller and varying the respective torque outputs at least partially based on the first drive speed;
limiting respective torque generation output in the first drive only to a positive rotational direction and in the second drive only to an opposite negative rotational direction;
sensing torque generated by the first and second drives and varying their respective generated drive torque in a feedback loop at least partially based on the sensed torque; and
the drive controller adjusting torque rotational offsets by maintaining generally constant additional opposing backlash torque on both drives during their operation.
7 . A drive controller adapted to couple to at least one pair of first and second drives that are in turn coupled to respective first and second driving gears that form a gear train with at least one commonly driven gear, the drive controller comprising circuitry that simultaneously powers the first drive to cause first gear torque generation only in a first positive rotational direction and the second drive to cause second gear torque generation only in an opposite negative rotational direction, selectively varies drive torque outputs of the respective first and second drives so that they generate continuously opposing rotational torques and that adjusts torque rotational offsets, so as to maintain desired backlash torque among the respective gears during driven operation of the gear train and desired gross motion of the driven gear.
8 . The drive controller of claim 7 , wherein the circuitry maintains generally constant additional opposing backlash torque on both drives during their operation.
9 . The drive controller of claim 7 , wherein the circuitry limits respective torque generation output in the first drive only to a positive rotational direction and in the second drive only to an opposite negative rotational direction.
10 . The drive controller of claim 7 , wherein the circuitry controls speed of the first drive and varies the respective generated torque outputs at least partially based on the first drive speed.
11 . The drive controller of claim 7 , wherein the circuitry senses torque generated by the first and second drives and varies their respective drive torque at least partially based on the sensed torque.
12 . The drive controller of claim 7 , further comprising:
the circuitry controlling speed of the first drive and varying the respective torque outputs at least partially based on the first drive speed;
the circuitry limiting respective torque generation output in the first drive only to a positive rotational direction and in the second drive only to an opposite negative rotational direction;
the circuitry sensing torque generated by the first and second drives and varying their respective generated drive torque in a feedback loop at least partially based on the sensed torque; and
the circuitry adjusting torque rotational offsets by maintaining generally constant additional opposing backlash torque on both drives during their operation.
13 . A gear train backlash control system comprising:
a gear train having at least a pair of first and second driving gears and at least one commonly driven gear;
first and second drives coupled to the respective first and second driving gears; and
a drive controller coupled to the first and second drives, having circuitry that simultaneously powers the first drive to cause first gear torque generation only in a first positive rotational direction and the second drive to cause second gear torque generation only in an opposite negative rotational direction, selectively varies drive torque outputs of the respective first and second drives, so that they generate continuously opposing rotational torques and that adjusts torque rotational offsets, so as to maintain desired backlash torque among the respective gears during driven operation of the gear train and desired gross motion of the driven gear.
14 . The system of claim 13 , wherein the circuitry maintains generally constant additional opposing backlash torque on both drives during their operation.
15 . The system of claim 13 , wherein the circuitry limits respective torque generation output in the first drive only to a positive rotational direction and in the second drive only to an opposite negative rotational direction.
16 . The system of claim 13 , wherein the circuitry controls speed of the first drive and varies the respective generated torque outputs at least partially based on the first drive speed.
17 . The system of claim 13 , wherein the circuitry senses torque generated by the first and second drives and varies their respective drive torque at least partially based on the sensed torque.
18 . The system of claim 13 , further comprising:
the circuitry controlling speed of the first drive and varying the respective torque outputs at least partially based on the first drive speed;
the circuitry limiting respective torque generation output in the first drive only to a positive rotational direction and in the second drive only to an opposite negative rotational direction;
the circuitry sensing torque generated by the first and second drives and varying their respective generated drive torque in a feedback loop at least partially based on the sensed torque; and
the circuitry adjusting torque rotational offsets by maintaining generally constant additional opposing backlash torque on both drives during their operation.
19 . An electronic storage medium storing a computer program comprising software code portions that when run by a processor of a drive controller enables the drive controller to control gear backlash in a gear train having at least a pair of first and second driving gears and at least one commonly driven gear, the driving gears being powered by respective first and second drives that are coupled to the drive controller, comprising simultaneously powering the first drive to cause first gear torque generation only in a first positive rotational direction and the second drive to cause second gear torque generation only in an opposite negative rotational direction, selectively varying the respective drive torque outputs with the drive controller in order to generate continuously opposing rotational torques and adjusting torque rotational offsets so as to maintain desired backlash among the respective gears during driven operation of the gear train and desired gross motion of the driven gear.
20 . The storage medium of claim 19 , the software code therein when run by the processor further enabling drive controller functions comprising:
controlling speed of the first drive with the drive controller and varying the respective torque outputs at least partially based on the first drive speed;
limiting respective torque generation output in the first drive only to a positive rotational direction and in the second drive only to an opposite negative rotational direction;
sensing torque generated by the first and second drives and varying their respective drive torque in a feedback loop at least partially based on the sensed torque; and the drive controller adjusting torque rotational offsets by maintaining constant additional opposing backlash torque on both drives during their operation.