Research On Synchronous Control Method Of Multi-Axis Coupling System

With the rapid development of modern manufacturing industry in China,multi-axis synchronous control technology has been widely used in industrial robot coupling systems.In order to improve the control performance of a multi-axis system,not only the control accuracy of a single axis should be guaranteed,but also the coordination of motion control between each axis should be considered.Applying the synchronous control strategy to the multi-axis control system not only ensure the good synchronous operation of the multi-axis system,but also improve the synchronous control performance of the multi-axis system.Therefore,the paper has important theoretical research significance and application value.In this paper,the multi-axis industrial robot is taken as the research object.The dynamic model of industrial robot is established.The multi-axis coupling synchronous controller is designed,and the synchronous control problem of multi-axis industrial robot system is studied deeply.The main research contents include:Firstly,the dynamic analysis of industrial robot is carried out.The dynamic model of industrial robot is established by using Lagrange function method,and the simulation experiment is carried out.The curves of the torque and time of each joint of industrial robot verify the correctness of the model.Secondly,based on the theory of ring coupling control,the nonlinear PD ring coupling synchronous control structure is proposed,the nonlinear PD ring coupling synchronous controller is designed,which solves the problem that synchronous coordinate control cannot be achieved between the axes.The simulation results of multi-axis robot system show that,the nonlinear PD ring coupling synchronous control method is effective.Finally,aiming at the problem of parameter uncertainty in the mathematical model of multi-axis system,an adaptive PD ring coupling synchronous control method is proposed,and the simulation experiment is carried out.The simulation results show that the synchronization performance of adaptive PD ring coupling synchronous control method is better than nonlinear PD ring coupling synchronous control method.