Research On Coupling Synchronization Control Of Multi-motor Servo System

With the rapid development of modern science and technology,the control accuracy requirement of the servo system is getting higher and higher.With a large inertia,high-power load servo system requirements gradually increased,due to limited output torque,single motor drive can not meet the requirements of control performance,which affecting productivity.Recently,the study of multi-motor servo system has provided an effective way to solve the problem of large inertia load control.However,there is a mutual coupling relationship between the motor in the multi-drive servo system,which makes it difficult to guarantee the tracking and synchronization control precision of the system at the same time.In this paper,multi-motor servo system is the main research object.The synchronization control scheme the overall design of multi-motor servo system is proposed,the main work of this paper is as follows:First of all,the characteristics of multi motor servo system are analyzed and modeled.In the case of comprehensive disturbance,the speed loop model of multi-motor servo system is constructed.On the basis of it,a multi-motor tracking controller based on fuzzy active disturbance rejection and a multi-motor synchronization controller based on adaptive integral sliding mode are designed.The fuzzy strategy is used to set the parameters of the extended state observer,and the dynamic adjustment of the parameters is realized.Based on the traditional adjacency coupling strategy,an improved adjacency coupling strategy is proposed by introducing the coupling factor,and the adjacent coupling adapative sliding speed synchronous controller is constructed by combining the sliding mode control.The switching gain is controlled in a reasonable range,and effectively reducing the sliding mode of the chattering phenomenon,improve the system's anti-disturbence capability.Finally,the validity of the proposed algorithm is verified by simulation.A position loop model of multi-motor system is proposed,and a position loop synchronization scheme is proposed,which combines the fast nonsingular terminal sliding mode algorithm to design the position loop synchronization controller of multi-motor servo system.The system synchronization error is realized in finite time.The design of the position loop tracking controller of the multi-motor servo system based on the initial iterative learning control law is proposed.The condition of the initial positioning of the iterative learning is relaxed,the repetitive motion performance of the system is improved.The simulation results verify the effectiveness of the proposed algorithm.On the basis of the iterative learning theory,combined with the advantages of active disturbance rejection control and iterative learning control,the active disturbance rejection iterative learning algorithm is proposed.Combining the finite time tracking differentiator and the extended state observer and the iterative learning control in the active disturbance rejection control,the iterative learning tracking controller based on the iterative finite time tracking differentiator and the iterative extended state observer are designed respectively.The optimization of the value and the improvement of the tracking accuracy are carried out.The simulation results verify the effectiveness of the proposed algorithm.Finally,for the selected dual-axis engraving machine and servo drive,an experimental platform is set up.The system debugging of the active disturbance rejection deviation mean coupling controller based on perturbation compensation is completed.The experimental results show that the coupled synchronous control has better synchronization performance than the distributed control.