Cooperative Predictive Position Control of Dual-Motor System

A cooperative predictive position control (CPPC) method for dual-motor system is proposed in this article to improve the synchronization performance, tracking performance, and rapidity. The prediction model for dual-motor system is established to predict future behavior of motor, and the position synchronization error is introduced into cost function to establish algorithm-level connection between motors to improve the synchronization performance. The motor operation process is divided into acceleration stage, constant speed stage, deceleration stage, and position approaching stage, and the adaptive adjustment method of weight coefficient is proposed for different motor operation stages to realize multivariable collaborative optimization control. The experimental results of the proposed CPPC method are presented to verify its effectiveness and superiority.