Aiming at the problem of speed synchronization accuracy of gantry dual-drive system,a speed tracking synchronous cou-pling control method was proposed.In order to realize accurate tracking of external loads,a sliding mode load observer based on Sigmoid function was constructed;a dual-motor mean-value synchronous difference controller combined with an integral sliding mode was de-signed,and a tracking error backstepping controller was combined to formulate a coupled control strategy of speed synchronization error and tracking error,and simulation tests were completed for two load cases.The simulation results show that compared with the PID con-trol,the coupled control strategy reduces the synchronization error by 52.4％and the response time by 75％;compared with the single backstepping control,the coupled control strategy reduces the synchronization error by 39.1％and the response time by 17％.
关键词
转速控制/Sigmoid函数/负载估计/反步控制/积分滑模/耦合控制
Key words
speed control/Sigmoid function/load estimation/backstepping control/integral sliding mode/coupling control
维普
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