基于转速差调节和模型预测控制的双电机伺服系统消隙控制

摘要

A rotation speed offset regulation and model predictive control based anti-backlash control approach was proposed for the dual motor servo system.The proposed approach utilized a rotation speed offset regulator to conduct the anti-backlash coordinated control,and utilized a model predictive controller to enhance the control performance of the dual motor servo system.At first,the system structure and working principle of the dual motor servo system were analyzed.And then,a tracking error based rotation speed offset regulator and a simplified model of the dual servo system based model predictive controller were designed.Finally,the results of the simulation demonstrate that the proposed control approach could enhance the dynamic response and the control precision of the dual motor servo system.%针对双电机伺服系统,提出一种基于转速差调节和模型预测控制的消隙控制方法.该方法将偏置力矩的施加转换为转速差调节,并利用转速差调节器对双电机进行消隙协调控制,利用模型预测控制提高系统的控制性能.首先,分析了双电机伺服系统结构及其工作原理;然后设计了基于转角输出跟踪误差的转速差调节器和基于双电机伺服系统简化模型的模型预测控制器.最后,通过仿真实验验证了该控制方法能够有效地提高双电机伺服系统的响应速度及控制精度.