Modeling and Control on the Synchrodrive Rotary System with Dual Motor

10.6567/IFToMM.14TH.WC.OS8.020

Xiang-Qi Liu；Bei-Bei Han；Ze-Fei Zhu

Dual hydraulic motors ； Iterative learning control (ILC) algorithm ； IL-PID synchronization control ； electro-hydraulic servo control

Proceedings of the 14th IFToMM World Congress

14th-2（2015 / 10 / 27）

468 - 474

英文

This paper introduces the elasticity theory of undamped planetary gear transmission, in order to improve dual hydraulic motors rotation performance. Aimed at the rotation system index requirements of tracking performance and synchronization performance, the IL-PID servo synchronization control strategy with the combination of discrete PID controller structure is proposed. This control strategy adopts independent discrete PID control within each single channel to realize the system tracking performance, adopts the IL control which is based on close D-type learning law among the multi-channel to realize the system synchronization performance. The experimental results on 5-DOF hydraulic servo manipulator illustrate that the proposed control strategy has better tracking performance and synchronous driving performance.