A method of anti-backlash synchronous control for dual-motor servo system

Abstract

The invention discloses an anti-backlash and synchronization control method for a dual-motor servo system, relating to a tracking, synchronizing and anti-backlash comprehensive control method for a dual-motor servo system and belonging to the technical field of motor control. The implementation method of the invention comprises the following steps: analyzing a dual-motor servo system with backlash; building a state-space equation of the system by using a dead zone model of the backlash; designing a tracking controller by using a robust backstepping control method; respectively designing a synchronization controller and an anti-backlash controller by using the robust backstepping control method based on the tracking controller; and introducing a transfer function for the anti-backlash controller and the synchronization controller, applying the anti-backlash controller to make up for backlash when the backlash is about to appear and carrying out synchronization control when no backlash appears, thus ensuring the tracking, synchronizing and anti-backlash control of the dual-motor servo system. The technical problem to be solved in the invention is to eliminate the influence of backlash nonlinearity and ensure the synchronization of motors under the premise of realizing load tracking.

Description

technical field [0001] The invention relates to a backlash elimination synchronous control method for a dual-motor servo system, in particular to a comprehensive control method for tracking, synchronization and backlash elimination of a double-motor servo system, which belongs to the technical field of electromechanical control. Background technique [0002] The application field of the servo system is extremely wide, no matter in industry or in the military, the servo system plays a pivotal role. With the development of modern science and technology, such as precise positioning of numerical control equipment, precise processing of electronic equipment, precise control of radar and artillery, etc., the role of servo system is becoming more and more prominent, and higher and higher requirements are put forward for its performance indicators. Require. For some servo systems with large inertia and high power, it is difficult to meet the requirements of single-motor servo syste...

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Problems solved by technology

[0009] To sum up, the existing offset torque backlash elimination method is an engineering design method, and whether the applied offset torque can eliminate backlash has not been proved in theory, and can only be achieved by experimental trial and error. The purpose of gap

Moreover, the influence of the synchronous controller on the tracking performance of the system has not been considered in the previous synchronous control design schemes, and in the implementation process, the tracking is often achieved first and then the synchronization is achieved. Therefore, how to design an integrated controller to enable load tracking and motor synchronization And the realization of eliminating backlash at the same time is of great practical engineering value

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