Adaptive multi-level differential coupling control strategy for dual-motor servo synchronous system based on global backstepping super-twisting control

A new dual-motor servo steering system with improved reliability and safety is proposed. But, despite the advantages of the proposed servo system, it is strongly coupled, non-linear and multivariable, where the biggest challenge lies in its tracking and synchronization control. To improve the tracking and synchronization control performance of the proposed servo system, a tracking and synchronization control strategy based on backstepping super-twisting control and multi-level differential coupling is presented. First, a parallel model of the dual-motor is established. Then, backstepping and super-twisting control algorithms are integrated while adaptively optimizing key parameters to ensure the robustness and tracking performance of each motor. After that, an angular synchronization controller with multi-level differential coupling and backstepping super-twisting algorithm is proposed to compensate for the synchronization error of the dual-motor system caused by parameter uncertainty. Finally, the simulation is carried out using Simulink to verify the effectiveness of the proposed control strategy.