| With the development of aerospace industry,the application of satellite and satellite antenna is more and more widespread.New satellite antenna brings forward higher requirements of driving power,accuracy,reliability and robustness of servo system.Meanwhile,the backlash nonlinearity exists in the mechanical transmission system,and the driving mode of single motor can hardly meet the control requirements of high precision.In this paper,a dualmotor synchronous servo system is designed and implemented for satellite antenna.Firstly,In order to meet the requirement of fast dynamic response of satellite antenna servo system,a cross-coupling control scheme based on master-slave differential negative feedback is proposed.The influence of transmission chain backlash on system stability and dynamic performance is eliminated by means of electric anti-backlash.Based on the analysis of the function requirements,interface requirements and performance requirements of the system,the overall scheme of the dual-motor drive and control integrated unit is designed,and the selection of key functional devices are completed.Secondly,according to the overall design scheme,the hardware design of the dual-motor synchronous servo system is completed with the modularization thinking.It mainly includes STM32 main core minimum system,signal conditioning module,rotary signal decoding circuit module,inverting circuit module,power drive module,communication module and so on.The working principle of each module is introduced in detail,and the schematic diagram and PCB design are completed.Thirdly,based on the mathematical model of BLDCM,the model of dual-motor synchronous servo system is constructed,and the synchronous control algorithm of dual-motor synchronous servo system is designed.A differential compensation controller based on sliding mode variable structure is designed combined with the improved cross-coupling control structure.By comparing the controller with the traditional control strategy through simulation experiments,it is verified that the controller can make the two motors have better synchronization performance when the the given speed and the load torque changes.Then,according to the functional requirements of the actual system,the software design of the dual-motor synchronous servo system is completed.According to the system function,the whole software system is divided into initialization module,control module,communication module and so on.The software implementation process of key functions such as speed acquisition,synchronous drive and anti-backlash is given.Finally,the test of the dual-motor synchronous servo system of satellite antenna is completed.The speed response experiment and load change experiment verify the function of the dual-motor drive-control integrated system and the effectiveness of the designed synchronous control algorithm. |
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