Adaptive Pre-load to raise Efficiency of electrical pre-loaded Rack-and-Pinion Drives

对生产精度和生产率不断增长的要求要求具有出色的指令跟踪和干扰抑制性能的高动态进给驱动器。一种主要用于大型机器的传动系统是齿条小齿轮传动(RPD)。RPD的一个核心问题是传动系中的齿隙。通过第二个相同的驱动器对系统进行电气预加载是一种既定的解决方案。预紧力是由驱动器之间的差动扭矩施加的，该差动扭矩通常保持恒定。为了根据需要动态调整系统的相关特性，本项目拟对预紧力进行自适应设计。高预载允许设置高Kv，从而产生出色的跟踪性能。但由于废热的存在，高位预压不能永久使用，因此需要研究合适的控制方法来适应预压的需要。目标是开发一种方法，在必要时使用系统的总扭矩。另一方面，在非关键运行阶段减少了预载荷。总体而言，该研究项目产生了具有最佳性能的电子预加载RPD。

Permanent increasing demands on production accuracy and productivity impose high dynamic feed drives with excellent command tracking and disturbance rejection properties. A drive system predominantly used in large machines is the rack-and-pinion drive (RPD). A central problem of RPD is backlash in the drive train. The electrical preloading of the system by a second identical drive is an established solution. The preload is applied by a differential torque between the drives, which is generally kept constant. However, this change other dynamically relevant properties such as stiffness and damping.In order to adjust dynamically relevant system properties according to demand, the project intends to design the preload adaptively. A high preload allows the setting of a high Kv, which results in an excellent tracking performance. But the high preload cannot be used permanently due to waste heat, which is the reason for researching an adequate control method to adapt the preload as required. The objective is to develop a method which uses the total torque of the system, if necessary. On the other hand, the preload is reduced during non-critical operating phases. Overall, the research project results in an electrically preloaded RPD with optimal performance.