Research On Synchronous Anti-backlash Control Method Of Dual-motor Drive System Based On Projectile Coordinato

As an essential part of the automatic loading system,the projectile coordinator plays an important role in receiving projectiles from manipulator and coordinating projectiles to ammunition.In practical projects,there are some problems,such as dual-motor synchronous control,gear drive backlash and unknown disturbance in dual-motor driven projectile coordinator.In order to solve these problems,a small platform was built for further studied.The research content of this thesis is mainly related to the following points:(1)Based on the detailed analysis of the structural characteristics,working principle and control model of the projectile coordinator,the dynamics analysis of the projectile coordinator system was carried out.Combined with the mathematical model of permanent magnet synchronous motor and vector strategy,the equivalent mathematical model of projectile coordinator system is established.The typical problems of the projectile coordinator system are synchronous control of dual-motor and oscillation of the system caused by large drive backlash.In order to solve these problems in engineering practice,a small platform was built for further research.(2)The simulation model of a small dual-motor drive system was built.Aiming at the problem of dual-motor synchronous control,the dual-motor speed negative feedback control strategy with a single speed is designed.According to the influence of backlash on the system,the dynamic backlash elimination control strategy is designed,and the motor three loop PI control is used for simulation verification.(3)When the expected purpose cannot be achieved by using conventional PI control,an algorithm is designed for the motor speed loop,and a dual-motor drive system synchronous anti-backlash control strategy based on the speed loop model predictive control is specifically designed,which can reduce the speed difference of the dual-motor,suppress the position jitter and ensure the position accuracy.On the basis of the above research,an extended state observer is introduced to suppress the disturbance in the system effectively.(4)A miniature experiment platform for projectile coordinator was built.The experimental results show that the designed control strategy and control method can reduce the speed difference of dual motors,and system overshoot is reduced.We can conclude from the experimental results that the methods have good control effect,and can be further extend to the physical platform of projectile coordinator.