High-performance Multi-motor Synchronous Linkage Control System

In this paper, a high performance digital servo-system which is driven by multi-drivers is studied.The general picture of the servo system is firstly introduced in the text. We use four motors to drive the system together in order to satisfy the big inertia. The error of the motors' velocity is measured and we feed back the error to make them have a synchronous movement.At the same time, a new scheme of anti-backlash with analogue circuit is presented for four drives mode which is adopted for the closed-loop control.. The detailed method is given in the paper. The scheme has some advantages such as quick, reliable and feasible. It lays firm foundation for electric anti-backlash . From this way, we change this nonlinear system including gear clearances into an approximate linear system.For satisfying the high performance, good dependability and low power cost, etc, some control modules and based on PC/104 and the control software are designed. After that, the paper analyze a kind of intelligence PID control method and design the intelligence PID controller for this servo system.Furthermore, a set of PID coef f i cient is provided. Experiment results show that good performance can be achieved when intelligent PID is applied. Now the performance requirement of the system is satisfied.