Abstract
Aiming at the control problem of dual-motor driving servo system with backlash nonlinearity, we proposed the model of system linear part. We used describing function methods to analyze backlash nonlinearity characteristic. The simulation experiments of nonlinear system with backlash were carried out. The results of simulation show that system represents residual self-oscillation with step response, nonstationarity with low speed tracking and error abrupt change produced by sinusoidal tracking reversing. In the end, we used compensation control strategy to weaken the impact of backlash nonlinearity on dual-motor driving servo system. Finally the simulation illustrates the effectiveness of the proposed compensation control strategy.
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