Multi-motor Synchronous Linkage Control System Design And Implementation

In this paper, a high performance multi-drivers servo-system is studied. In order to drive the large inertia, four motors are used to drive the system together. But in fact, four motors can't work at the same speed. So the difference of the speed is feed-back to make the motors have the synchronous movement. At the same time, a new scheme of anti-backlash with analogue circuit is presented for four drives mode which is adopted for the closed-loop control. The scheme has some advantages such as quick, reliable and feasible. It lays firm foundation for electric anti-backlash. From this way, we change this nonlinear system including gear clearances into an approximate linear system. We also design an interface circuit, which is integrated with MCU and high precision D/A chips. And PC/104 bus is supported.In order to realize the high performance, good dependability and low power cost, etc, some control modules based on PC/104 Bus Protocol and the control software are designed. Then, the paper analyzes a kind of intelligence PID control method and design the intelligence PID controller for the servo system. Experiment result show the good performance can be achieved when intelligent PID is applied.