The invention relates to a dual-motor energy-saving anti-backlash control method and belongs to the technical field of electromechanical control. A nonlinear dual-
motor system is changed into an approximate
linear system by applying a bias torque and rotating speed
negative feedback; in addition, a real-time bias torque is designed to save energy to the greatest extent on the basis of ensuring good tracking effect. A closed-
loop control is formed from speed and acceleration feedback of the motor, so that the size of the bias torque changes with the state of the
system, namely a large bias torque is applied at the beginning and during the direction changing process, and a small value is needed to keep the state due to no need of the bias torque in stable operation. In order to solve the design problems of the dual-
motor system about bias torque parameters and a
proportion integration differentiation (PID) controller parameters, a plurality of controller parameters are simultaneously optimized by adopting a
particle swarm algorithm. By adopting the dual-motor energy-saving anti-backlash control method, the problem about an optimization design of the controller of the dual-
motor drive system is solved, and meanwhile, the effects of quick tracking of an input
signal by the
system, a small
steady state error, synchronization of double motors, backlash removal and reduction of
energy consumption are ensured.