Research On Speed Synchronization And Backlash Elimination Control Method Of Dual-Motor For Large In-Ertia Servo System

In order to shorten the development cycle of weapon products and adapt to the target that characterized by fast and small in modern air defense war,the comprehensive measuring device of weapon with high precision,high dynamic and high power has become the key to the develop-ment of weapon servo system in the future.The ultra-high power servo test bench is a semi-phys-ical simulation platform designed for testing the servo control algorithm,which drives the large inertia load in the form of dual motor and gear transmission,but the speed synchronization per-formance of the two motors and the reverse clearance of the gear transmission will adversely affect the dynamic response and steady-state accuracy of the servo test bench.In view of this situation,based on the study of speed synchronization theory and gear backlash elimination theory,this paper designs a differential negative feedback synchronous controller and a dynamic bias torque backlash elimination controller based on speed controller,and verifies the feasibility of the method through simulation and experiment.The research work and achievements of this paper are as follows.(1)Based on the study and analysis of three-phase permanent magnet synchronous motor control theory and space vector pulse width modulation technology,the PMSM simulation model in synchronous rotating coordinate system and the simulation model of seven-segment SVPWM are established.Combined with modern control theory and internal model control strategy,the current decoupling controller,PI current controller and sliding mode speed controller are designed,and the sliding mode position controller is designed by using the open-loop transfer function of the position loop identified by the system identification of MATLAB.Based on the above content,the dynamic simulation model of large inertia dual motor drive system is established,and the simulation results show that the three-ring controller designed in this paper enhances the dynamic performance,steady-state accuracy and anti-jamming ability of the system.(2)Base on the research and analysis of speed synchronous control method of dual motor,a single speed loop differential negative feedback synchronous controller for a large inertia and dynamic system is designed.Under the condition of no speed synchronous control and synchro-nous control respectively,the speed response of the system when it is subjected to discrete interference of motor parameters,torque interference and current interference is analyzed,and the results show that the differential negative feedback controller designed in this paper can suppress the speed deviation caused by various disturbances and enhance the stability and anti-jamming ability of the system.(3)Based on the single motor model,the influence of the gear backlash nonlinearity on the system is detailed analyzed.With the analysis of dual-motor clearance elimination theory,the dynamic bias torque backlash elimination strategy based on speed controller is proposed in this paper,and the mathematical model and simulation model are established.Then,the influence of each parameter on the bias torque is analyzed by simulation.Under the condition that the system position input is step signal,slope signal and sinusoidal signal respectively,simulation test is per-formed while the bias torque increases step by step with single side backlash is 3mil.The result shows that the backlash elimination controller designed in this paper can obviously improve the dynamic response accuracy and stability performance of the system with backlash.