Research On Double Servo Motor Synchronous Control Based On EtherCAT Communication

With the development of modern manufacturing industry,The broaching machine,press machine,bending machines and other manufacturing equipment is driven by the traditional hydraulic or pneumatic system,because of the existence of control accuracy,high noise,low working efficiency of defects in the use process,is gradually replaced by high-end manufacturing equipment which is driven by permanent magnet AC servo system,such as servo broaching machine,servo press machine,servo bending machine and so on.But in the application process of this kind of large-scale manufacturing equipment,the output demand is quite high,the tonnage is quite big.While using the traditional permanent magnet AC servo system to drive this kind of large manufacturing equipment,in order to reach the same tonnage,the requirements of the motor power are relatively high,when only using a single motor to drive.It is still unable to reach,because of the constraints of the motor design technology and manufacturing process.So we usually use two motors or multi motors to drive this kind of large manufacturing equipment.When the multi motor drive scheme is adopted,a synchronous control system is needed to control the motor to make the motor operate better.The synchronization precision of the control system has a serious impact on the product quality and production efficiency,so it is a very important practical significance that how to improve the performance of the synchronization control system and synchronization control precision.According to the control object,the technology of multi motor synchronous driving can be divided into the position synchronization drive technology and the speed synchronous drive technology.At present,domestic and foreign scholars have made more research results in multi motor speed synchronous driving technology,but there are less research on the location of multi motor synchronization technology.In this paper,we mainly study the position synchronization control technology of double motors.At present,there are two kinds of key technology of the dual motor position synchronization control.One is how to improve the synchronous precision of the double motor position synchronous drive system to reduce the position synchronous error between two motor when the load changes suddenly;the other is how to improve the dynamic response ability and tracking ability of the servo drive system to the host computer.The two key technologies of the dual motor position synchronization control are studied in this paper.In order to improve the synchronization accuracy and anti-disturbance ability of the dual motor position synchronization drive system,a synchronization control strategy based on cross coupling integrated feedforward is proposed.And in order to improve the dynamic response ability and tracking ability of the servo drive system to the host computer,a dual servo motor synchronous drive system based on EtherCAT communication is designed.The main content of this paper includes the following parts:First,several common strategy of multi motor speed synchronous control are analyzed.And on the basis of this,the traditional parallel synchronous control strategy is improved,a synchronization control strategy is presented based on the location of the cross coupling integrated feedforward.The model of double servo motor synchronous drive system is built in the Matlab/Simulink,and the simulation experiment of four kinds of synchronization control schemes are carried out.The simulation results show that the proposed synchronization control strategy is feasible and has high accuracy.Secondly,in order to improve the dynamic response ability and tracking ability of the servo drive system to the host computer,the double servo motor driving system based on EtherCAT communication is designed,and the PLC control program and HMI human-computer interaction interface of the dual motor synchronous drive are written by using software of TwinCAT2.Finally,in order to verify the correctness of the simulation and the feasibility of the synchronous drive scheme,the double servo motor linkage experiment platform is built.and the experiment of the double servo motor linkage and the synchronous control strategy are carried out.The experimental results show that the designed dual servo motor drive scheme is effective,which has high response accuracy and tracking ability.So it is suitable to use in the occasions of high accuracy and positioning accuracy.