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.
关键词
弹丸协调臂/双电机驱动/消隙控制/同步控制/扩张状态观测器
Key words
projectile coordination arm/dual motor drive/anti-backlash control/synchronous control/extended-state observer
维普
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