关键词: 多电机伺服系统, 命令滤波, 反步法, 多轴运动控制系统

Abstract: Aiming at the high accuracy speed tracking and servo control problem in multi-motor systems, a command filter and virtual shaft based high performance synchronous control method was designed. Combining the dynamics of PMSM with i_d=0 vector control strategy, the simplified decoupling multi-motor system dynamics model was established. The command filtered backstepping technique was utilized to design the synchronous controller avoiding the item explosion phenomenon of traditional backstepping approach. The virtual shaft based synchronous feedback signals among various motors were designed to avoid extra
energy loss and potential mechanical damage causing by rotating speed mismatch. The effectiveness and advantages of the designed method were validated through practical production data in the tobacco multi-axis roller pressing system.

Key words: multi-motor servo system, command filter, backstepping, multi-axis motion control system