Adaptive multi‐level differential coupling control strategy for dual‐motor servo synchronous system based on global backstepping super‐twisting control

Abstract

AbstractA new dual‐motor servo steering system with improved reliability and safety is proposed. But, despite the advantages of the proposed servo system, it is strongly coupled, non‐linear and multivariable, where the biggest challenge lies in its tracking and synchronization control. To improve the tracking and synchronization control performance of the proposed servo system, a tracking and synchronization control strategy based on backstepping super‐twisting control and multi‐level differential coupling is presented. First, a parallel model of the dual‐motor is established. Then, backstepping and super‐twisting control algorithms are integrated while adaptively optimizing key parameters to ensure the robustness and tracking performance of each motor. After that, an angular synchronization controller with multi‐level differential coupling and backstepping super‐twisting algorithm is proposed to compensate for the synchronization error of the dual‐motor system caused by parameter uncertainty. Finally, the simulation is carried out using Simulink to verify the effectiveness of the proposed control strategy.