Guaranteed performance robust decentralized control of dual-motor servo system

Abstract

The invention discloses a guaranteed performance robust decentralized control of a dual-motor servo system, and can realize system load tracking and motor synchronization under the influence of a loadinter-load coupling factor, specific to a tooth space interconnecting item-containing dual-motor servo system. The guaranteed performance robust decentralized control comprises the following steps ofperforming analysis on the tooth space-containing dual-motor servo system, and establishing a state space expression of the dual-motor servo system by adopting a tooth space dead zone model. Specificto the dual-motor servo system, when the unknown nonlinearity of the load end satisfies a Lipschitz condition, the optimal state feedback is designed by a linear secondary type tracker; by combination with a robust controller, a guaranteed performance-based robust decentralized tracking controller is configured by combination with the robust controller. When it is supposed that the unknown nonlinearity of the respective motors is consistent, the optimal integral sliding mode controller is designed so as to realize synchronization between two motors; and by combination of the guaranteed performance-based robust decentralized tracking controller and the optimal integral sliding mode controller of the motor, the actual controller of each motor is configured in order to perform motor synchronous control.

Description

technical field [0001] The invention relates to the technical field of motor servo control, in particular to a performance-guaranteed robust decentralized control method for a dual-motor servo system. Background technique [0002] With the development of science and technology, servo mechanical systems have been widely used in industry and military. The traditional servo system generally uses a single motor to drive the load to rotate, but for some servo systems with large inertia and high power, the single motor servo system cannot meet the power and driving force requirements, so the synchronous linkage of two motors is adopted A variety of control methods within the servo system is one of the research and development directions of the current servo system. The advantage of dual-motor synchronous system is not only to improve the driving ability of the system, but also to effectively eliminate the backlash of the transmission chain by taking appropriate measures, so as to...

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Problems solved by technology

[0008] In summary, for nonlinear systems with interconnection items, most of the research is still at the theoretical stage, and for dual-motor systems with backlash interconnection items, no effective control method has been proposed to solve the coupling factors between load motors. Achieving system load tracking and motor synchronization under the influence of

Moreover, the previous synchronous control design schemes did not consider the influence of the synchronous controller on the tracking performance of the system, and in the implementation process, it is often to achieve synchronization first and then to achieve tracking. Therefore, how to design a decentralized controller can overcome its own nonlinearity and In the case of interconnected items, it is of great practical engineering value to realize load tracking and motor synchronization at the same time

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