Energy-saving and anti-backlash control method for dual motors

Abstract

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.

Description

technical field [0001] The invention relates to a dual-motor energy-saving and anti-backlash control method, which belongs to the technical field of electromechanical control. Background technique [0002] Backlash is the gap between gears, and there is inevitably backlash in devices that need to use gears for deceleration. The existence of backlash makes the system an incompletely controllable system. During the gear gap period, the drive motor and the load are not in contact. Therefore, there is a return error due to the nonlinearity of the backlash during the start-up and commutation of the system. , seriously affecting the dynamic characteristics and steady-state accuracy of the system. In order to eliminate the impact of backlash on the system, scholars at home and abroad have done a lot of research. For the backlash itself, there are currently three models that are used more, namely the hysteresis model, the dead zone model and the impact model. The hysteresis model ...

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Problems solved by technology

In these optimization algorithms, the analytical method requires the objective function to be continuous and smooth, and derivative information is required, these two shortcomings will lead to poor robustness

The computational efficiency of the enumeration method is too low, "exponential explosion", and it is often powerless for problems of medium scale and moderate complexity

Due to the consideration of efficiency, the random method terminates the search to a certain extent, and the obtained result is generally not the optimal solution.

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