Research On The Control Of Double Motor Servo System

The developmental level of aerospace industry is a significant symbol of the strength of a nation. As a key equipment in aerospace field, the performance of servo system affect the reliability and confidence of simulation and test. In military affairs, the automatic aiming tracking control of radar antenna,targeting motion control of anti-aircraft artillery and tactical missile auncher, turrets motion control of tanks and warships ,etc.,are based on the turntable movement control. As a important part in mechanical system, servo system is wildly applied in various systems such as radars, artilleries, missile launchers, astronomical telescope, aerospace and aeronautic flying machine. Making a deep research on it has a great importance in theory and engineering.With a double motor servo system as research object, this papaer has made workes as follows.(1) A detailed description is made on balcklash and the method of anti-backlash with double motor servo system. Through a mechanical analysis on double motor servo system, its mathmatic model is build.(2) A set of control theories are designed for the double motor servo system to remove the effects of backlash. Through a set of simulations on MATLAB, I make a comparison between the theories by analysising their simulation results. Also through a set of simulations with different parameters of bias torque on MATLAB, the influnce of bias torque on the control is given.(3) A introduction is made to friction and its compensation. Based on a double motor servo system, a simulation of friction compensation based on friction model is made.