Multi-motor Synchronous Linkage System Dynamics Modeling And Anti-backlash Control Algorithm

In this paper, Multi-motor synchronized driving servo system is studied. It is based on the project of the design and reconstruction of new style cannon. The whole design of four-motor synchronized driving servo system is introduced and its principles and anti-backlash schemes are analyzed. After building the model of double-motor synchronized driving servo system, the kinetic model of four-motor servo system is constructed. The veracity of it is tested by simulation. From the basic construction of the system, the nonlinear factors in some servo systems are studied. Except for getting rid of these factors from mechanism, describing function analysis of an anti-backlash controller and optimal control algorithms are studied how to be applied to the elimination of backlash nonlinear. By simulation and testing, some useful results are gained.