Design And Implementation Of A Dual-motor Drive Controller

With the development of aerospace industry,antenna turntable in antenna tracking system is more and more widely used.The antenna turntable driven by single motor can no longer meet the control requirements of high precision and high power,so the control system of antenna turntable driven by multiple motors has become a new development trend.Aiming at the control requirements of antenna turntable tracking system integration,high precision and low energy consumption in aerospace field,a dual-motor synchronous drive controller is designed and developed.Firstly,according to the function characteristics of the antenna turntable in the antenna tracking system,the system requirements and technical indicators are analyzed in detail.The overall scheme design of the dual-motor synchronous drive controller based on SOC framework is completed,the system is divided into control unit,drive unit,detection unit and protection unit,and the selection of core components is completed through theoretical calculation.Secondly,according to the mathematical model of brushless DC motor and the mathematical model of mechanical drive system,the mathematical model of synchronous drive system without tooth gap is established.Then,considering the effect of backlash nonlinearity on the system,set up the mathematical model of the two-motor drive system including the dead zone model of backlash,and an improved control strategy of the gap is designed.An improved integral sliding mode synchronous controller is designed for the problem of dual motor synchronous control,and Lyapunov stability theory is applied to prove the stability of the system.Simulation experiments are completed to verify the effectiveness of the improved gap cancellation control and synchronization control algorithm.Then,the hardware and software of the dual motor drive controller are designed by using the modular design idea.Hardware circuit design is divided into control unit hardware circuit,drive unit hardware circuit,detection unit hardware circuit and isolation unit hardware circuit as well as other designs,also finishes the PCB production.The overall architecture design of the system software is completed,on this basis,ARM software design,FPGA software design and upper computer software design are completed respectively.Finally,the debugging of the function modules of the dual motor drive controller is completed.And finish building the speed tracking response experiment and anti-interference experiment of the system,the experimental results show that the designed dual-motor synchronous drive controller has the advantages of fast response speed and strong robustness.