Adaptive Fractional-Order Anti-Saturation Synchronous Control for Dual-Motor Systems

Abstract

The synchronization error of a dual-motor system will seriously affect the motion profile accuracy. To solve this problem, an adaptive fractional-order anti-saturation synchronous control method based on fractional-order frequency-domain control theory is proposed in this paper. On the one hand, the proposed method performs a compensation on the closed-loop feedback control loop to unify the frequency-domain characteristics for a dual-motor system. With the frequency-domain characteristics’ unification module, the dual-motor system will have the same response performance regarding the input signal. On the other hand, considering that the nonlinear problem of control voltage saturation will also cause the asynchronization problem of the dual-motor system, the proposed method involves an adaptive fractional-order anti-saturation module to prevent voltage saturation and eliminate the nonlinear effects. The experimental results verify that the proposed method can accurately avoid the saturation effect and effectively reduce the synchronization error of the dual-motor system, with a root-mean-square synchronization error reduction of 80.974%. Hence, the proposed method provides an effective solution for the high-precision synchronous motion of a dual-motor system.