Control of Twin Direct-Drive Motor System Using Wire Rope

An approach is proposed for improving the position precision and superior dynamic performance in a twin direct-drive motor system with a wire rope in the arc guide rail. For the position control motor, 2-DoF controller is introduced to the system, where the inner loop controller combined the Fuzzy-PID with velocity feedforward and the outer loop controller combined the disturbance observer (DOB) with PID, to improve the position precision and superior dynamic performance. For the motor providing pre-tightening force, PID controller is utilized to keep the wire ropes in a state of pre-tightening. The simulation result shows the high tracking performance and the effectiveness of the proposed algorithm.