Multi-backlash Servo Motor Synchronous Linkage System Dynamics Modeling And Control Research

This thesis is based on a project named of The Reasearch of the Modeling and Control of Servo System with Large Inertia Based on Multidrive to Eliminate Backlash funded by Chinese Nature Science Foundation. Considering the features of motor drived system of high inertia with backlash and the work of other researchers, the control of dual-motor driven systems is researched.The modeling of multi-motor synchronizing driven system is researched. Using principle analysis, the dynamic models of the system driven by single motor without backlash, the system driven by dual motors without backlash and the system driven by dual motors with backlash applying biased-voltage are built. By comparing and analysis, these models are tested and verified by stimulation.The control of the system driven by single motor with backlash is researched. The model of backlash is divided into two parts including the linear one and the nonlinear one. An adaptive robust control algorithm is proposed. By using this control algorithm, the closed-loop signal is bounded and the tracking error can be kept in any desired precision. The effectiveness is proved both theoretically and by simulation.The system driven by single motor can not eliminate the effect of backlash physically, so biased-torque is applied to the system driven by dual motors with backlash. Using similar design method, an adaptive robust control based on state feedback is proposed for the system driven by dual motors with backlash and biased-torque based on backstepping design by introducing proper virtual control and choosing control Lyapunov function without knowing the accurate value of system parameters. The same control effect can be achieved using this algorithm. The effectiveness is also proved both theoretically and by simulation.In consideration of measurement noise, a kind of desired compensation adaptive robust comtrol theory is introduced into the backsteeping design of the the system driven by dual motors. Without influencing the original control effect, the effect of measurement noise for closed-loop control system is minimized. It is also can be proved by both ways.