Abstract: A dual-motor driving strategy based on velocity curve planning is proposed for a vehicle-based high-inertia servo system with a contradiction between high dynamic response and stable operation. The dual-motor synchronous anti-backlash technology is adopted to compensate for the effects of backlash in the directional channel and pitch channel, smoothing out variations in driving torque and ensuring the stable operation of the system. The impact of the quick start-up procession and large acceleration which causes the low-frequency chattering problem is thus avoided through the propose planning of the speed curve of the servo system. Meanwhile, the speed planning command feedforward compensation improves the dynamic tracking accuracy of the servo system. Co-simulation and experimental results show that the dual-motor synchronous anti-backlash method can eliminate the influence of transmission clearance/backlash. The velocity curve planning approach with speed command feedforward compensation can effectively suppress the chattering problem of the high-inertia flexible structure and guarantee the system's response capacity.

Key words: vehicle-basedmovingplatformwithhighinertia, dual-motorsynchronousanti-backlashtechnology, velocitycurveplanningwithspeedcommandfeedforwardcompensation, co-simulation