Load torque composite synchronous control of dual-driven systems

For enhancing the load torque synchronization performance of dual-driven systems, the inherent coupling effect between the parallel axes is analyzed first and could be described as two distinct components of the synchronous error. Thus, the feedforward-feedback composite synchronous control scheme is proposed in this paper to eliminate these desynchronization factors. Secondly, the selection of synchronization objectives such as speeds, positions or currents of parallel axes is analyzed, which may not accurately reflect the actual load desynchronization due to mismatch dynamics. To overcome this drawback, the synchronous feedback controller is modified by incorporating a load torque observer, which can provide good adaptation to modelling errors, disturbances and eliminate the load desynchronization effectively. Simulation and experimental results demonstrate significant improvement in load torque synchronization performance achieved by the proposed control scheme.