Research On Synchronized Control Of Multi-motor In Servo System Based On CAN Bus

Multiple motors have been used for servo systems widely in recent years to meet the increased requirement of servo systems. In order to improve the dynamic and static performances, and to increase the load ability of the system, the problem of synchronized drive of multiple motors must be taken seriously, thus, the synchronized control of multiple motors is very important. A successful synchronized control scheme must control both the spacial and the temporal aspects of the motion. In this sense, synchronization refers to controlling the positions and velocities of the motors relative to each other so that they remain well-coordinated.In this paper, a system with two motors to drive one axe is proposed. In this system, the velocity and position synchronization of the two motors is the very important thing. In this sense, the improved cross-couple control algorithm for synchronized motor control is used to emphasize synchronization between the two motors at expense of following the command absolutely.In case of synchronization for multiple motors, the real time data communication is necessary. In order to satisfy this requirement, the complex signal lines are usually used to detect the speed and position of each motor and to command the desired speed and position. Such a traditional implementation technique induces many problems in the view of reliability and economy because of the amount and complexity of wiring, noise and maintenance problems, etc. In order to remove these problems, a simple synchronization system with the aid of serial communication using CAN (Controller Area Network) is proposed in this paper. In this case, inflexible and expensive special wiring is not necessary. Furthermore, the system can be modified in terms of network nodes without changing the wiring.