| With the development of industrialization in our country,the motion simulator which can simulate kinds of spatial motions has been widely applied to various fields.Many motion curves have parts with high acceleration and high frequency,so the system is required to response with high accuracy and frequency.Since the present motion simulators with high accuracy are driven by electromotor,the torque of electromotor should be small to satisfy the need for high-frequency-control of the simulator.As a result the multi-motor synchronous control is applied as the driver of the present motion simulator.However the present multi-motor system which is based on deviation of coupling synchronized control can control only 3 motors with a good accuracy.When applying to more motors,the speed of motors will be in disorder with a sudden change of load and the performance of system is poor.In this work an improved deviation coupling synchronization control strategy is presented to control 8 motors simultaneously.In order to improve the response performance of a single motor,the fuzzy sliding mode control is used for the speed control of the permanent magnet motor.Also,a virtualmotor is set as a speed feedback to real motor.The control strategy is verified by simulation of four and eight motors synchronous control systems.The results show that the control strategy can achieve smooth and synchronous changes of the motor speed.The experiment on X axis transmission system of the simulator with eight motors show that the improved deviation coupling control system have a great improve in synchronization,frequency response characteristics. |
