Model Predictive Control Method for Multi-motor System with Dead Zone

The multi-motor system shows excellent performance in achieving high-precision control in the applications with large load inertia, such as large-aperture telescopes and high-precision processing machine tools. However, the non-linearity of gear transmission remains a key challenge that will cause the fluctuation of angular velocity and position of the load in the multi-motor system. In order to compensate for the nonlinearity in the multi-motor system, this paper introduces a dead-zone model into the spring-damper dynamics of the multi-motor system, based on which a model predictive control (MPC) method is proposed to control the angular velocity and angle of the load. The optimization target of the proposed controller is to limit the fluctuations of input torque as much as possible. The effectiveness of the dead-zone based dynamic model and the MPC method are verified by simulation.