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《Journal of Huazhong University of Science and Technology(Natural Science Edition)》 2013-S1
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Adaptive control of dual-motor driving servosystem based on characteristic model

Wu Jinrong;Guo Yu;Huang Fangqin;Wu Yifei;School of Automation,Nanjing University of Science and Technology;  
To meet the needs of high precision and high dynamic performance to servo systems,the application of adaptive control approach based on characteristic model in the dual-motor driving servosystem by gear mesh was studied.Combining with the requirements of control performance,a characteristic model in the form of second-order time-varying difference equation was established for the dual-motor driving servo-system.Based on the characteristic model,agolden-section adaptive control law with integral was designed.Furthermore,a novel compound control algorithm which included adaptive feedforward and the golden-section adaptive feedback was presented.The simulation results show that by applying the proposed algorithm,the accuracy for tracing sinusoidal signal is improved substantially,as well as the dynamic performance of servo-system is improved comprehensively.
【Fund】: 国家自然科学基金资助项目(61074023)
【CateGory Index】: TM301.2
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