中文摘要：

针对驱动变惯量负载的双电机同步驱动伺服系统中存在的电机特性不一致、系统参数变化、负载转矩扰动以及未建模动态等情况，同时考虑了机械柔性，在反推控制的基础上引入动态面控制技术设计了鲁棒动态面控制器．利用反推法设计标称模型的控制信号，在虚拟控制信号中增加鲁棒补偿项，减小参数变化、扰动转矩以及非线性动态力矩的影响；在虚拟信号中同时增加同步补偿项，保证两个电机速度同步．应用动态面技术处理虚拟控制信号，避免了传统反推控制中对其反复求导的过程，简化了控制器结构．运用李亚普诺夫理论分析了闭环系统的稳定性，仿真结果验证了所提方法的有效性．

英文摘要：

In the dual-motor synchronous driving servo system with varying inertial load, there are motor characteristic difference, system parameter variations, load torque disturbances, and unmodeled dynamics besides machinery flexibilities. Aiming at the problems mentioned above, a robust dynamic surface controller based on backstepping techniques is designed by introducing dynamic surface techniques. The control signal for the nominal model is constructed based on backstepping method. A robust compensation is added to the virtual control signal to minimize the effects of parameter variations, torque disturbance and nonlinear dynamic torque. Synchronization compensation is also added to the virtual control signal to guarantee the speed synchronization of the two motors. Dynamic surface techniques are applied to filtering the virtual control signals, thus repeated signal in the traditional methods can be avoided, and the structure of the controller is simplified. Stability of the closed loop system is analyzed by Lyapunov theory. Effectiveness of the controller is proved by simulation results.