| With the rapid development of modern science and technology, single motorservo system is more and more difficult to meet the various requirements of thesystem in power and tracking performance. In order to obtain the high drivingpower, multiple driving motors are generally used, which brings the technicaldifficulty of multi-motor speed synchronization. At the same time, due to thenonlinear factors of friction and backlash in multi-motor servo system, the multi-motor system tracking is hard to be implemented by the traditional controllers.Thusthe servo system can not achieve the desired control objectives. In the thesis, multi-motor servo system friction compensation and multi-motor speed synchronizationcontrol are studied. The main research contents and results are as follows:(1)There are flat-roofed phenomenon in position tracking and dead-areaphenomenon in velocity tracking, which is caused by friction of dual-motor systems.A new compensation technique for friction that utilizes a backstepping controlstructure and an adaptive estimation of the friction force based on an observer forthe class of dual-motor driving system is presented. The adaptive dual-stateobserver is developed to estimate the unknown state of the LuGre friction model.The effectiveness of the proposed scheme is demonstrated by simulation results.(2)In order to make the friction model approximate to the practical friction, adiscontinuous piecewise neural network friction model is provided, which makesuse of the neural network learning ability. Based on this friction model,fuzzy slide-mode controller is designed and the stability is analyzed. Theeffectiveness of the proposed fuzzy sliding-mode controller is verified through thesimulation experiments.(3)Synchronization of dual-motor driving servo system is studied. Based on thedual-motor driving servo system with nonlinear backlash, sum-speed negativefeedback and the differential-speed negative feedback are adopted. ADRCtechnique (Auto Disturbance Rejection Control) is used to realizerapid synchronization and coordination of the multi motor systems. In order to solve the problem of multi-motor synchronization and tracking, the controller foreach driving motor respectively via the ring coupling synchronization method andthe circulating small-gain theoryis is designed. Through the Matlab simulation, PIDcontroller is made as a comparative test. The advantages and disadvantages ofsynchronization algorithm are discussed through the comparison of thesynchronization performance.(4)The general structure of TP-20A muti-motor driving system is given. Based onMFC framework classes, the interface of muti-motor servo control system isdeveloped in VS2005environment. The interface can display the sampling dataneeded in tracking curves of muti-motor driving system on real-time. Thefeasibility of the friction compensation and synchronization algorithms is verifiedthrough the multi-motor servo experiment platform. |
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