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<p>This paper introduces a rack-drive dual-motor turret system designed to significantly improve positioning accuracy and stability in servo mechanisms, particularly by addressing the common issue of gear backlash. Unlike traditional single-motor systems, our approach employs a secondary motor to actively counteract backlash effects, thereby enhancing system reliability. A key innovation of our work is the development of an auto-tune algorithm integrated within a cascade control architecture, which features loops for position, velocity, and torque regulation. The velocity control loop is managed using proportional-integral controllers, and the auto-tune algorithm is crucial in ensuring robust system performance despite disturbances and model uncertainties. Extensive simulations demonstrate that our control strategy maintains a tracking error below 0.2&#xa0;deg/s, a marked improvement over existing methods. Additionally, experimental validation on a physical test setup reveals a more than 60% enhancement in performance compared to a single-motor controller, highlighting the practical applicability and superiority of our design. This research not only addresses critical limitations in current servo systems but also offers a scalable solution for advanced precision control in various industrial applications.</p>

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Enhanced positioning accuracy and stability in servo mechanisms using a rack-drive dual-motor turret system with auto-tune control

  • 期刊论文

  • 发表日期：

    2025年2月20日

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  • Zahra Baradaran Ghaffari,
  • Majid Sadedel,
  • Mojtaba Azimifar,
  • S. Mohammad Hoseinifard

摘要

This paper introduces a rack-drive dual-motor turret system designed to significantly improve positioning accuracy and stability in servo mechanisms, particularly by addressing the common issue of gear backlash. Unlike traditional single-motor systems, our approach employs a secondary motor to actively counteract backlash effects, thereby enhancing system reliability. A key innovation of our work is the development of an auto-tune algorithm integrated within a cascade control architecture, which features loops for position, velocity, and torque regulation. The velocity control loop is managed using proportional-integral controllers, and the auto-tune algorithm is crucial in ensuring robust system performance despite disturbances and model uncertainties. Extensive simulations demonstrate that our control strategy maintains a tracking error below 0.2 deg/s, a marked improvement over existing methods. Additionally, experimental validation on a physical test setup reveals a more than 60% enhancement in performance compared to a single-motor controller, highlighting the practical applicability and superiority of our design. This research not only addresses critical limitations in current servo systems but also offers a scalable solution for advanced precision control in various industrial applications.