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Fast terminal sliding mode synchronization control of dual-motor driving servo systems

机译：双电机驱动伺服系统的快速终端滑模同步控制

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This paper proposes a fast terminal sliding mode synchronization (FTSMS) control with variable coefficient for dual-motor driving servo systems with unknown backlash. The proposed algorithm consists of two parts, the dual-motor synchronization control and the load tracking control. A nonlinear variable coefficient characterizing the synchronization rate is used for fast terminal sliding mode, such that the system is sufficient to achieve synchronization and tracking control for the reference signal with prescribed performance. A continuously differentiable function is adopted to account for the non-differential deadzone. The proposed FTSMS has a faster convergence rate than the conventional sliding mode. More importantly, the convergence time of FTSMS control is limited. Comparative simulations are included to verify the reliability and effectiveness.
机译：针对具有未知间隙的双电机驱动伺服系统，提出了一种变系数快速终端滑模同步控制方法。该算法由双电机同步控制和负载跟踪控制两部分组成。表征同步速率的非线性可变系数用于快速终端滑模，因此该系统足以实现具有规定性能的参考信号的同步和跟踪控制。采用连续可微函数来解决非微分死区。所提出的FTSMS具有比常规滑动模式更快的收敛速率。更重要的是，FTSMS控制的收敛时间受到限制。包括比较仿真以验证可靠性和有效性。

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