Research On Control Of Multi-motor In The High-power Servo Test Stand

Since targets tend to be faster and smaller in a modern air defense war, fast-response, high-precision, and high-power servo test stand has become an importantequipment of the future weapons’ servo systems.The main way to achieve high power is the incorporation of multiple motors,however, synchronization performance of multiple motors will have a major impact onrapidity, and backlash will adversely affect accuracy. Accordingly, enhancement of thesynchronization performance and elimination of the backlash were studied in the thesis toimprove rapidity and accuracy of the test stand.For the multi-motor synchronization issue, the synchronization structure andalgorithm were studied respectively on the basis of the permanent magnet synchronousmotor servo system in the thesis. With regard to the control structure, the relativecoupling structure and adjacent cross-coupling structure were compared. Consideringboth the synchronization performance and the simplicity in structure, adjacent cross-coupling structure was selected;In view of the parameter variations and random disturbance occurring in the teststand, variable structure control was chosen as the synchronization algorithm. The designof the sliding mode controller for the multi-motor system was completed and therobustness of the system was analyzed. Compared with the PID controller, the slidingmode controller significantly reduces the synchronization error and enhances therobustness of the system;For the backlash issue, the adverse impact of the backlash on the accuracy andstability of the test stand was studied through the describing function method. Toeliminate the backlash, the principles of the fixed and dynamic bias torque methods wereanalyzed, and the dynamic bias torque method was improved through energyoptimization.