针对双电机伺服系统同步控制精度问题，在命令滤波的基础上设计离散跟踪与同步控制方案。通过建立双电机系统离散动力学方程，降低了命令滤波器反步法设计过程中的计算难度，还能同时处理虚拟控制信号。在控制器设计中定义补偿信号消除误差，进而提高跟踪性能。结果表明，神经网络可以高效处理电机运行中轴转矩或齿隙等带来的非线性扰动。最终通过Lyapunov分析控制方法的稳定性，结果表明双电机伺服系统在该控制器作用下具有良好的跟踪及同步性能。

Aiming at the synchronous control problem of dual-motor servo systems, a discrete tracking and synchronous control scheme is designed based on command filtered. By establishing discrete dynamic equations for a dual-motor system, the computational difficulty in backstepping design process of command filtered is reduced, and virtual control signals can also be processed simultaneously. Define compensation signals in the controller design to eliminate errors and improve tracking performance. The results shows that neural networks can handle nonlinear disturbances caused by shaft torque or backlash during motor operation efficiently. Finally, the stability of the control method was analyzed by Lyapunov, the results shows that the dual-motor servo system had good tracking and synchronous performance under the action of the controller.

国家自然科学基金（62103212， 62203381）