Tracking control method and device of double-inertia model, equipment and storage medium

The invention discloses a tracking control method and device for a double-inertia model, equipment and a storage medium, and the method comprises the steps: building a double-inertia model containing a back gap, and building a model tracking controller based on the double-inertia model; adjusting control parameters of each loop in the model tracking controller until the model tracking controller reaches a stable state, the loop comprising a model position loop, a model speed loop and a model current loop; and determining a corresponding motor control parameter when a stable state is reached, and controlling an actual servo system based on the motor control parameter to enable the actual servo system to reach a stable operation state. The problem of mechanical resonance caused by tracking errors of a servo system is solved, vibration of the system can be suppressed, and the rapid positioning capability is improved. Meanwhile, the factor of back clearance in an actual servo system is considered in the double-in