Coordinate Control in a System Involving a Dual-Motor Electromechanical Torsion

Abstract

The article discusses an electromechanical system containing interconnected electric drives that are controlled according to the principle of an electromechanical thrust. This principle is applied in a gear-type kinematic transmission to eliminate the effects of backlash on the coordinate control dynamic and accuracy characteristics. The scheme of a servo electromechanical system involving independent control of thrust position and torques, and taking into account the kinematic transmission elastic properties is proposed. In comparison with similar systems, the proposed system has better dynamic properties and higher accuracy of the coordinate control. The above-mentioned effect is achieved through a combined use of series- and parallel-connected compensating elements. The procedure used for synthesizing this system is also presented. The parallel-connected compensating elements were used to obtain the electromechanical system’s dynamic properties according to the modal control principles. The series-connected controllers compensate the inertia of their subordinate loops by producing a leading action. Owing to the availability of integrating components in the position and driving torque control loops, the control system ensures zero-position-error performance in responding to both control and disturbing inputs. In comparison with a similar control system, the proposed servo system features a better quality factor in speed, a shorter transport lag, and shorter duration of transients while securing their desired aperiodic pattern, and there is no need to use additional measurement devices or circuits. The system is synthesized proceeding for a compromise between the response speed, oscillation damping ratio, and coordinate control accuracy. The considered electromechanical system was investigated by simulating it in the Matlab/Simulink software package environment. The system simulation results have demonstrated its operability in responding to reference (setpoint adjustment) and disturbing inputs, as well as the conformity of the dynamic properties and coordinate control accuracy to their design values. The described coordinate control system with interconnected electric drives can be used in a variety of motion control systems that shall meet high requirements for accuracy and dynamics.