Load torque estimation based synchronous anti-backlash control for dual motors driven projectile coordination arm
In order to improve the control performance of the projectile coordination arm driven by two motors of an artillery,a new load torque estimation based synchronous anti-backlash control method is proposed in this paper.Different from the traditional current signal based anti-backlash control method,the proposed method uses the load torque as characteristic signal for anti-backlash control,and an extended-state observer is designed to estimate the load torque,then the anti-backlash bias current is set based on the estimated torque,thus the influence of the backlash is effectively reduced.Moreover,by combing with the cross-coupling synchronization control method,a fusion strategy of anti-backlash control and synchronization control is proposed by using negative exponential function,thus the synchro error is effectively reduced and the speed-deviation oscillation is also avoided.Simulation results show that,compared with synchronous anti-backlash control method based on current signals,the proposed method can reduce the peak value of position error by more than 38%,and the synchronization error attenuation is accelerated.
projectile coordination armdual motor driveanti-backlash controlsynchronous controlextended-state observer
万方数据
维普
