Study Of Multi-motor Synchronous Control Strategy

In recent years, with the continuous development of the manufacturing, more andmore mechanical equipments, especially the large-scale mechanical equipments，needmore than one motor work together to drive. In order to improve the quality of theequipments, the speed synchronization performance of the multi-motor are requiredhigher and higher. Therefore, how to improve the multi-motor synchronous controlsystem performance and the synchronization control precision, have a very importantpractical significance.However, there are two major problems in the current multi-motor synchronouscontrol. The first one is the tracking error of single motor for a given speed. In orderto achieve synchronous operation of multiple motors, single motor’s control effectmust be good, which requires each motor controller should have a good dynamicresponse capacity and speed tracking capability. The second is the speedsynchronization error between the multiple motors. For the quality of multiple motorcontrol structure and the selection of the speed synchronization error compensationstrategy affect the stability of the system and the synchronization accuracy directly.In this paper, three permanent magnet synchronous motor speed synchronizationare taken as the study object, and focusing on how to improve the speed trackingperformance of the single motor and how to reduce the speed synchronization errorbetween the three motors. Then an ADRC synchronization control strategy inmulti-motor based on deviation coupling is proposed. The main work can besummarized as follows:(1) The characteristics and control strategies of the permanent magnetsynchronous motor are described, and several common multi-motor synchronizationcontrol strategies are introduced, especially the deviation coupling control structure.And several multi-motor synchronization control models are builded by usingMatlab/Simulink.(2) To overcome the shortages for PID control using in nonlinear, time-varying,strong coupling multi-motor synchronization control, a permanent magnetsynchronous motor speed loop ADRC controller is designed, which can improve thesteady-state performance and anti-interference capability. To solve the problem that itis hard to adjust the ADRC controller’s parameters, the concept of of time scale isintroduced, and the time scale of anent magnet synchronous motor and the parameter tuning of ADRC controller are combined, which simplifies the parameter tuning.(3) To overcome the shortages for the traditional deviation coupling controlstructures, an improved deviation coupling structure based on fuzzy algorithm isdesigned. When the operating status changes, the real-time adjustment of multi-motorcoupling order can be achieved by using the proposed deviation coupling controller,and Matlab simulation results demonstrate the superiority of its synchronizationcontrol.(4) For the distributed feature of the multi-motor system, the PROFIBUS DPcommunication secondary station is designed, and the multi-motor synchronouscontrol system monitoring software is written by using wincc.