在光电经纬仪设备的水平轴系中实现了双电机的直接驱动控制。建立刚性连接下双电机的直接驱动模型, 与单电机驱动相比: 双电机与单电机的控制特性的谐振频率几乎是一致的, 而双电机反谐振频率是单电机驱动的1.414倍, 因此双电机具有比单电机驱动良好的控制对象特性。由于双电机采用了刚性连接, 其速度已经同步了。提出了电流跟随控制方法实现力矩同步的控制算法。具体就是以其中任何一个电机作为主电机, 另外一个电机作为从电机跟踪主电机的反馈电流, 而速度反馈直接到主电机上。实验结果表明理论分析的有效性, 在跟踪轨迹为0.01°/s的直线, 位置随机误差为 0.011 9″。

It is very important to use two motors synchronization control in photoelectric theodolite tracking control system. First, the direct drive function of two motors is modeled. Compared with single motor direct control system, the resonance frequency of two motors control systems is the same, while the anti-resonance frequency of two motor control system is 1.414 times than those of sing motor system. Because of hard coupling for direct drive, the speed of two motor of the system is the same, and the synchronization of torque for motors is critical. The current master-slave control technique is effective to synchronize the torque, in which the current loop of the master motors is tracked by the other slave motor. The speed feedback into the input of current loop of the master motors. The experiments test the performance of the two motors drive system. The random tracking error is 0.011 9″for the line trajectory of 0.01°/s.