Pull-pull position control of dual motor wire rope transmission

Area of Science:

• Robotics and Control Systems
• Mechanical Engineering
• Mechatronics

Background:

• Wire rope transmissions offer high efficiency due to low moving mass.
• Maintaining wire rope tension is crucial for dynamic performance in high-speed applications.
• Existing systems face challenges with elasticity and position tracking errors during direction changes.

Purpose of the Study:

• To propose a novel pull-pull wire rope transmission method using dual motors.
• To achieve precise, high-speed position control.
• To simultaneously regulate target position and wire rope tension.

Main Methods:

• Implementation of a dual-motor system connected by wire ropes.
• Simultaneous control of target position and wire rope tension.
• Maintaining a pre-tightening state of the wire ropes throughout operation.

Main Results:

• The proposed method effectively regulates both position and wire rope tension.
• Wire ropes remain pre-tightened, mitigating elasticity effects.
• Reduced position tracking errors were observed during direction changes.
• Simulations and experiments confirmed synchronous achievement of position precision and dynamic performance.

Conclusions:

• The novel pull-pull wire rope transmission method enhances dynamic performance and precision.
• This system is suitable for high-speed, precise position control applications.
• The technology has direct relevance for precision pointing instruments in spacecraft.