Robust decoupled synchronization control of dual‐motor servo systems by mechanical parameter identification

Abstract

In the dual‐motor servo system driven by permanent magnet linear synchronous motor, a synchronous control strategy based on coupling parameter identification algorithm and feedback linearization decoupling controller is proposed to overcome the influence of mechanical coupling on the synchronous control performance of the system. Firstly, the mathematical model of synchronous motion system with mechanical coupling dynamics is established. Secondly, a novel coupling parameter identification structure based on disturbance observer is designed. Additionally, the input excitation adopts relatively smooth sinusoidal position and velocity signals to avoid damage to the mechanical structure. Then the feedback linearization method is used to decouple the coupled synchronous control system, and the integrated sliding mode controller is designed for the linear subsystem to improve the robustness of the system. Finally, the experimental results show that the proposed identification method can accurately identify the coupling parameters of the system, and the feedback linearized sliding mode controller based on the identification parameters can effectively eliminate the influence of mechanical coupling and improve the performance of synchronous control.

Synchronization control algorithm model and control strategy for robotic arm based on deviation coupling

“…By monitoring and controlling the synchronization error between adjacent joints, the motion of each joint can be adjusted in a timely manner in order to maintain a consistent motion trajectory and attitude. This method can effectively improve the synchronization performance of the robotic arm system and reduce the accumulation of errors caused by the series structure [7]. In addition, in order to evaluate the motion accuracy and synchronization of the robotic arm system more comprehensively, the coupling error can be defined by combining the tracking error and synchronization error.…”