Research On Dual-Drive Synchronous Control With Large Moving Payload

In recent years,with the deepening of theoretical research satellite fleet,satellite formation technology is gradually shifted from theoretical study to engineering applications.In order to serve a certain type of satellite,a motion simulator is designed and built to simulate the satellite trajectory in space.The motion simulator is similar to the large dual-drive gantry machine tool structure.In this configuration,there is a relationship between the biaxial mechanical coupling.And the difficulty of dual-drive synchronous control is increased because of the load parameter uncertainties and time-varying external disturbances caused by the motion of the large payload along the crossbeam.In order to improve the tracking accuracy and synchronous accuracy,it is necessary to study synchronous control.There are mechanical coupling in the dual linear motors simulator system.And the motion of the large payload causes the load parameter uncertainties and time-varying external disturbances.For those reasons,a kinetic model based on Lagrange equation is established.The model reflects the mechanical coupling of the system and motion of the large payload on the crossbeam.Based on kinetic model mentioned above,we designed the controllers.In order to overcome the shortcoming of the traditional PID control in dual-drive synchronous control system,a cross-coupled controller is designed to improve synchronization accuracy.MATLAB simulations are conducted in three cases:different load uncertainty,different external disturbances and different payload velocity.Corresponding simulation results are analyzed.In order to further improve the performance of the control system,H_?cross-coupled control algorithm is proposed.Firstly,the basic idea of robust control algorithms and the design process are introduced.Secondly,based on the kinetic model,H_?control algorithm is proposed.Lastly,simulations are conducted to verify the performance of the control algorithm.The motion simulator platform is designed and established,and the proposed algorithm is applied to the platform.Firstly,the electrical design of the motion simulator control system is described.Secondly,the hardware and the software of the motion simulator control system are introduced separately.Finally,based on the motion simulator platform,dual-drive synchronous motion experiments are carried.Both PID cross-coupled control algorithm and H_?cross-coupled control algorithm are applied,and experimental results are analyzed.