Abstract: Dual-motor driving servo system has backlash nonlinear, thus can reduce system response speed, steady accuracy and anti-jamming performance. In order to diminish the adverse effects of backlash to system, a controller with state feedback is designed and its stability is analyzed by introducing the virtual control quantity, the Lyapunov function is seleeted by using backstepping approach. The result of simulation shows that this design needs no knowledge about the uncertainty internal parameters of the system, the control system has good position tracking performance and strong robustness.

Key words: backlash nonlinearity, backstepping control, dual-motor driving, virtual control

摘要： 双电机驱动伺服系统中存在齿隙非线性，从而降低系统跟踪响应速度、稳态精度及其抗干扰能力，为了削弱齿隙非线性对系统产生的不利影响，应用反步控制方法，引入虚拟控制量的概念，通过逐步递推选择Lyapunov函数，设计了基于状态反馈的控制器，并进行了稳定性分析。仿真结果表明，所提出的控制策略不需要知道系统内部不确定性参数，控制系统具有良好的位置跟踪性能和较强的鲁棒性。

关键词: 齿隙非线性, 反步控制, 双电机驱动, 虚拟控制