A switching strategy with a sliding mode control based on sub-optimal energy consumption for dual-motor servo systems with backlash
Aiming at a waste of energy resulted from using bias torque method for dual-motor servo systems with backlash,this paper presents a switching strategy with a sliding mode control based on sub-optimal energy consumption.A switching strategy is proposed to guarantee that one motor can contact with the load,and the other motor can go through the backlash quickly when the systems stay in the reversing direction stage.According to the maximum principle of optimal control.the optimal energy control law with an inequality constraint is derived by solving the Hamilton canonical equation.A sliding mode controller is designed based on optimal control and the energy consumption for the systems can be greatly reduced by this design.Meanwhile,the nonlinear influence of the backlash can be effectively eliminated through this switching strategy.Simulation results are conducted to validate the tracking performance and less energy consumption of the proposed method.
Dual-motor servo systems with backlash switching strategy energy sub-optimal control sliding mode control
Minlin Wang Xuemei Ren Dongwu Li
School of Automation,Beijing Institute of Technology,Beijing 100081
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
8956-8961
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）