This article introduces a new dual-drive vertical lift servo system with a slipway that can be used to help people or other intelligent equipment complete high-altitude work better on the exterior wall of the high-rise buildings. In order to improve the system motion performance, enhance the robustness against the variation of system parameters and external disturbances, and minimize position error, a control scheme that integrates proportional–integral–derivative (PID) control and fast terminal sliding-mode control (FTSMC) is applied. The combination of the characteristics of both the PID and FTSMC ensures that the vertical lift servo system achieves motion stability, rapid convergence with small steady-state errors, and strong robustness against variation parameters and external disturbances. Potential rotational dynamics around the center of mass and synchronous error that mainly results from varying loads are reduced through the proposed control torque allocation scheme. The performance of the control scheme is investigated through extensive simulations. Moreover, a series of experimental studies demonstrate the effectiveness of the proposed synchronous position control method for the vertical lift system actuated by the two parallel servo drive systems.

中文翻译：

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双驱动垂直升降伺服系统设计及同步控制性能分析

本文介绍了一种新型的带滑道的双驱动垂直提升伺服系统，该系统可用于帮助人们或其他智能设备在高层建筑的外墙上更好地完成高空工作。为了提高系统运动性能，增强抵抗系统参数变化和外部干扰的鲁棒性，并最大程度降低位置误差，该控制方案集成了比例-积分-微分（PID）控制和快速终端滑模控制（FTSMC） ） 被申请;被应用。PID和FTSMC的特性相结合，确保了垂直提升伺服系统具有运动稳定性，快速收敛性和较小的稳态误差，并且对变化参数和外​​部干扰具有很强的鲁棒性。通过提出的控制转矩分配方案，可以减少主要由变化的载荷引起的围绕质心的潜在旋转动力学和同步误差。通过广泛的仿真研究了控制方案的性能。此外，一系列实验研究证明了所提出的同步位置控制方法对于由两个并行伺服驱动系统致动的垂直提升系统的有效性。