摘  要：针对双电机同步控制系统在实际运行中存在摩擦负载的作用，首先建立双电机同步控制系统的数学模型和Stribeck摩擦模型。然后提出在偏差耦合控制方式下采用模糊PID控制算法对偏差进行调节的双电机同步控制方案，并与采用常规PID算法的控制方案进行比较。仿真结果表明，采用模糊PID控制算法的偏差耦合系统具有较好的抗干扰性和同步控制精度，优于常规PID控制系统的性能。
关键词：同步控制；偏差耦合；模糊PID；变摩擦

Abstract: A mathematical model of double-motor’s synchronous control system and the Stribeck friction model were firstly built for compensating the friction load of double-motor synchronous control system in actual operation. Then the scheme of synchronous control for double-motor, which used the fuzzy PID in the mode of deviation coupling control, was presented, and compared with the traditional PID’s. The simulation results show that the control system of deviation coupling based on fuzzy PID has better anti-interference performance and synchronization precision than the traditional one.
Key words: synchronous control；deviation coupling；fuzzy PID；variable friction