Study of Single-servo Control of Parallel Branched Chain

This paper takes the parallel single-chain system as the object of study and uses dynamic analysis software ADAMS to establish the system dynamic model and add external load and constraint.The control algorithm of servo system is designed in the control system of Matlab simulation software and the control output is used to drive the mechanical model.ADAMS / Controls module is taken as two software interface,the mechanical lever position of ADAMS model and the motor speed output are fed back to the control model to make closed-loop mechanical system and control system achieve the joint simulation which can provide a reliable basis for single-chain control system design and commissioning.