Research On Intelligent Control Technology Of A Simulation Platform Based On Multi-motor Coordination

The control of a single motor is becoming more and more mature with the development of industry.Coordinated control of multi-motor is gradually applied in the production line,robots and other production areas and advanced equipment.The advanced equipment has the characteristics of high precision,high synchronization,real time and complicated working conditions.The application of embedded system in equipment of high speed and high precision is a valuable research direction today.A simulation platform control system with application value based on ARM processor and STM32F303 chip is designed to meet the cooperative control demand for an simulation projectile mechanism.The simulation platform system adopts the distributing control structure using the embedded open-source Linux operating system as the software development platform of the control system.STM32 chip and IGBT are used as the motor control driving unit.And multi permanent magnet synchronous motors which are of good speed performance,quick response and low torque ripple are used as the actuator.The simulation platform can simulate the displacement,lifting and pushing process of mechanism.In the aspect of software,this system completes the human-computer interaction program,simulation platform control system Linux application and driver,speed control program of permanent magnet synchronous motor,multi motor coordination control program,CAN communication program and design methods of inquiry and gives the control method of fuzzy PID.In the aspect of hardware,this paper completes driving circuit of permanent magnet synchronous motor based on STM32 chip and IGBT,communication circuit,sensor circuit and etc.A simplified verification platform is built to verify the control effect of the simulation platform.The platform launched a communication experiment between Linux system level three test drive,permanent magnet synchronous motor speed regulation experiment and the multi motor synchronous experiment.The experimental results show that the simulation platform of the control system design has good comprehensive performance.This study has certain reference significance for the design of the simulation loading system to realize the intelligent ammunition feed.