机电工程技术2025，Vol.54Issue(19)：59-64,6.DOI:10.3969/j.issn.1009-9492.2025.19.011
基于自抗扰控制的双电机消隙技术
Dual-motor Backlash Elimination Technology Based on Active Disturbance Rejection Control
摘要
Abstract
Backlash in dual-motor drive system often leads to reduced control accuracy and slow system response,and its impact is particularly significant in high-precision application scenarios.To address this issue,a model of the permanent magnet synchronous motor and mechanical transmission system is established,and a method for eliminating tooth backlash based on dual-motor coordinated application of constant bias torque and active disturbance rejection control is proposed.The nonlinear errors caused by tooth backlash are eliminated through constant bias torque,and the extended state observer in active disturbance rejection control(ADRC)is used to estimate and compensate for system disturbances in real time,thereby improving the control accuracy and response speed of the system.Based on the MATLAB and ADAMS co-simulation platform,a dual-motor drive system model is built to verify the effectiveness of the proposed method.Simulation results show that the method can effectively eliminate the nonlinear influence caused by backlash and improve the control accuracy of the gear transmission system.Compared with the traditional proportional-integral(PI)control method,the active disturbance rejection control adopted in the study can improve the response speed.This research provides a new solution for the study of high-precision control methods for dual-motor drive systems.关键词
双电机驱动/齿间侧隙/自抗扰控制/消隙方法Key words
dual-motor drive/tooth backlash/active disturbance rejection control/backlash elimination method分类
信息技术与安全科学引用本文复制引用
韩旭,张可畏,郭成龙,李金金..基于自抗扰控制的双电机消隙技术[J].机电工程技术,2025,54(19):59-64,6.基金项目
辽宁省自然科学基金(2024-BS-200) （2024-BS-200）
辽宁省属本科高校基本科研业务费专项资金(LJ212410150060) （LJ212410150060）
