Coordinated control for multiple motors in wheel-rail type antenna pedestal based on ring coupled strategy

The adhesion features between parallel wheels and rail may diverge heavily due to the eccentric abrasion and rail surface pollution, thus torque/speed asynchronization and wheel idling may occur frequently, finally result in system failure. In this paper, ring coupling strategy(RCS) is introduced to couple the adjacent creeping speed of parallel wheel-rail adhesion pairs, the differences are used as the accessional torque feedback of corresponding motor to avoid sliding phenomena. Firstly, the adhesion feature between wheel-rail pair and the system dynamic is analyzed. Subsequently, torque master salve strategy(TMSS) that parallel motors track the output of the auto speed regulator(ASR), which control the rotation velocity of the pedestal, is introduced and studied against parameters and adhesion feature deviation. Finally, the modified RCS are studied as contrast. The results indicate that, when the adhesion feature changes and the friction ratio couldn’t meet the requirement to follow the torque reference form ASR, the motor would slide heavily under TMSS and no longer acting as driver. Oppositely, RCS would adaptively adjust the motor to work at the critical adhesion point with proper creeping speed, and thus generate maximum driving torque of current adhesion feature.