Synchronous Backlash Elimination-Based Dual-Motor Coordination Arm Predictive Position Control

This paper proposes a predictive position control method for a dual-motor-driven coordination arm based on synchronous backlash elimination. Firstly, for the dual-motor-driven coordination arm, the virtual average motor model is employed to regard the dual-motor system as a single motor. A robust generalized predictive controller based on the sliding mode compensation term is proposed to enhance the system's disturbance rejection capability and realize position control of the dual-motor system. Considering the issues of transmission backlash and speed inconsistency that may occur during the movement of the coordination arm, this paper designs the torque distribution module to realize synchronous backlash elimination control of the coordination arm by dynamically adjusting the coordination current components. During the synchronous control phase, the PI negative feedback regulator is used to suppress the speed difference and ensure the consistency of the dual-motor speed. In the backlash elimination control phase, bias current is applied to eliminate the impact of transmission backlash, and an extended state observer is used to observe and compensate for the nonlinear disturbances caused by the bias current, thereby improving the position control performance of the system. Finally, simulations are conducted for comparison to verify the effectiveness of the proposed method.