双马达回转同步驱动系统建模与控制研究

针对双液压马达回转高性能同步驱动问题，引入无阻尼行星系齿轮传动弹性动力学理论，基于双液压马达回转运动特性建立了系统非线性动力学模型；针对回转系统跟踪性能和同步性能要求，引入迭代学习控制算法(ILC)，提出了结合离散化PID控制器结构的IL-PID同步控制策略。该控制策略基于“等同式”同步控制原理，在各单通道内部采用独立的离散化PID控制实现系统跟踪性能，在多通道间采用基于闭环D型学习律的IL控制实现系统同步性能。在五自由度液压伺服机械手上的实际应用结果表明，该控制策略相比于传统的PID控制具有较好的跟踪性能和同步驱动性能。

Modeling and Synchronous Control on Rotary System with Dual Motor

Aimed at the high performance synchronous driving problem of dual hydrauic motors rotation，the elasticity theory of undamped planetary gear transmission was introduced. On the basis of analyzing the movement characteristics of dual motors hydraulic rotation system, the nonlinear model was established. For the rotation system index requirements of tracking performance and synchronization performance, ILC algorithm was introduced, and the IL-PID servo synchronization control strategy with the combination of discrete PID controller structure was proposed. This control strategy was based on “equivalent” type synchronous control principle,  independent  discrete PID control was adopted to realize the system tracking performance within each single channel, the IL control which was based on closed-loop D-type learning law was adopted to realize the system synchronization performance among the multi-channels. The results of practical applications on 5-DOF of hydraulic servo manipulator show that the control strategy has better tracking performance and synchronous driving performance than the traditional PID control.