Study And Application Of Anti-backlash Servo System By Double-motor

In this paper, anti-backlash servo system by double-motor is studied. It is based on the development of certain precision radar turntable server. The system model is established through deep analysis to anti-backlash principle by double-motor. Then based on the model the control algorithm is designed. Meanwhile, related theories and methods about friction compensation are discussed preliminarily for improving low speed performance of the system.First, the technical index and the whole design scheme of the server are introduced and the related devices used in the system are described briefly.Next, Anti-backlash Current-Equation is derived by detailed analysis to the principle of double-motor. Furthermore, combining the dynamic characteristics of double-motor with control block diagram of the practical system, the model is built. Then, based on the model, control algorithm of the system is designed. And the control effects of PID and composite control are given by simulation. The result shows that composite control can highly improve tracking precision without changing stability of the system.Finally, the reasons of low speed crawling are analyzed, and an acceleration feedback controller is designed for effectively inhibiting friction.