Research On Position Tracking Control Algorithm Of Multi-motor Synchronous Drive Servo System

With the development of weapon equipment towards higher accuracy and speed,higher requirements are put forward for the dynamic performance,control accuracy and robustness of the servo system of weapon equipment.Aiming at the control requirements of high power,high precision and strong robustness of weapon servo system,a kind of multi motor synchronous drive servo system is studied in this paper.First,based on the detailed study of single motor servo system,backlash and friction nonlinear model,the dynamic model of four motor synchronous drive servo system is established.Second,in view of the shortcomings of the traditional multi motor synchronous control strategy,a synchronous control strategy based on the combination of virtual spindle and improved adjacent cross coupling and a synchronous control strategy based on the combination of virtual spindle and improved deviation coupling are designed.The simulation results show that the synchronization control strategy based on virtual spindle and improved deviation coupling is better.However,its structure is complex and calculation is too large,which is not convenient for engineering application.For this reason,a synchronization control strategy based on the combination of virtual spindle and mean value coupling is designed,and simulation analysis is carried out.The results show that the synchronization control strategy overcomes the shortcomings of large amount of calculation and has better synchronization control effect.Third,in view of the difficulty of controller design caused by the high order of four motor dynamic model,the feature model of four motor is established by using the feature modeling theory,and the recursive least square method with forgetting factor is used to identify the feature parameters online.In order to solve the problem of non convergence of characteristic parameters caused by measurement noise in the system,the EKF and STF filtering algorithms based on the characteristic model are designed,and the simulation results show that the STF algorithm based on the characteristic model has better filtering effect.Fourth,a full coefficient adaptive position controller is designed to solve the problem of highprecision position tracking of four motor synchronous drive servo system based on feature model.The simulation results of three typical input signals show that the tracking error of the controller is large under the slope signal and sinusoidal signal.Therefore,a discrete adaptive robust sliding mode position controller based on the characteristic model is designed in this paper,which proves the stability of the system and improves the tracking accuracy of the slope signal and sinusoidal signal by simulation.Finally,the position tracking experiment is carried out on the experimental platform.The experimental results show that the control method proposed in this paper is feasible.