Research On Multi-motor Synchronous Control Approaches In Servo System

High power servo simulator is mainly used to provide a simulationenvironment for measured load. This dissertation mainly researches on synchronouscontrol of multi-motor in servo system. Basing on the synchronous control, wecomplete the design of the high power servo system. The main work is according tothe performance indices of the system, we design and make the simulation analysisof the control system.This dissertation firstly introduces the background and significance of the topic,as well as the status of multi-motor synchronous control at home and abroad.According to the performance requirements system, this dissertation proposesthe overall design of the high power servo test bench, and briefly analyzes itsworking principle, completes the selection, modeling and control problems of themotors, at the same time, determines the multi-motor synchronous driving schemeof the high power servo system. According to the scheme, this dissertation analyzesthe multi-motor synchronous control strategy and determines the overall scheme.Against to the multi-motor synchronization problem, relative coupling synchronouscontrol mode is applied to this system, on that basis, we firstly study the PIDcontroller and fuzzy controller strategies, when the system is subjected to externaldisturbances, simulation analyses show that the two kinds of control strategies aredifficult to meet the requirements of the system.The phase plane divisional control method based on relative couplingsynchronous control strategy is applied to this dissertation, in which, we add anintegral and a small gain link to the output side of phase plane divisional controller.When the system is subjected to the same external disturbances, this control methodcould meet the requirements of the multi-motor synchronous control accuracy. Inorder to further reduce the synchronization error between motors and ensure theprecision and stability of the high power servo system, we improve the scheme ofthe multi-motor synchronous control based on the original scheme, keep only onemotor speed feedback loop and speed controller, three motors shared one speedcontroller, and differential current feedbacks control are added to the scheme.In order to avoid the complex working environment and the internal parameterschanges to impact the system, to meet the dynamic performance and steady-stateprecision of the high power servo system. This dissertation deeply study the modelreference adaptive control method, according to the performance requirements of thesystem, we select the reference model, using the third-order model to follow theideal third-order reference model. Based on the multi-motor synchronous drive system, this dissertation adopts the model reference adaptive control method for thedesign of the high power servo control system.