Dual-motor energy-saving anti-backlash control method
A control method and dual-motor technology, applied in the direction of speed regulation of multiple motors, can solve the problems of exponential explosion, low calculation efficiency of enumeration method, and poor robustness.
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[0058] In this embodiment, an energy-saving and anti-backlash control system is designed according to the method described in the content of the invention, and the problem of tuning parameters of the multi-coupling controller in the dual-motor controller is solved by using the particle swarm optimization algorithm. The objective function with error and energy consumption as the performance index is selected, and the controller parameters and bias torque parameters of the dual-motor drive system are optimized simultaneously.
[0059] The dual-motor optimal control method based on the particle swarm method is mainly divided into the following steps:
[0060] The first step: Design differential negative feedback control to achieve the purpose of synchronizing two small motors. The speed difference of the two motors is taken, and after being linearly amplified, it is respectively negatively fed back to the current loop input ends of the two motors. The principle of differential n...
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