Research On Multi-motor Synchronous And Coordinated Control Technology Based On Cooperative Control Theory

Multi-motor coordination control systems exist in a wide range of industrial control systems,such as advanced machinery manufacturing equipment,industrial robots,hydraulic drives system and so on.In recent years,with the continuous development of "Made in China2025" strategy,the machinery manufacturing industry with intelligent manufacturing as the core has been booming,and the multi-motor coordinated control system has been widely used in intelligent manufacturing.In the research of multi-motor coordinated control technology,there are two aspects to study,one is motor control algorithm,the other is multi-motor coordinated control structure.Accordingly,this paper studies the multi-motor coordinated control technology based on synergetic control theory.The main research contents of this paper include:(1)In the robust synergetic control algorithm,the problem of poor control performance of motor cooperative control system in the presence of parameter perturbation and load disturbance is mainly solved.In order to better reflect the performance requirements of control systems in engineering,a variety of performance indicators are established to describe the system.Finally,the design problem of robust cooperative controller is transformed into a linear convex optimization problem by means of linear matrix inequality(LMI).(2)In the multi-motor relative coupling control algorithm,the coupling problem of coordination performance and tracking performance in the traditional relative coupling control structure is mainly solved.Based on the manifold design method in synergetic control theory,the decoupling of coordinated control performance and tracking performance in multi-motor systems is achieved by designing different coordinated weight coefficients and tracking weight coefficients on manifolds.(3)In the robust stability analysis of the multi-motor coordinated control system,the general form of uncertain multi-motor system is established,and the general design flow of multi-motor coordinated controller is given.Finally,the Lyapunov stability theory is used to analyze that the multi-motor coordinated control system can still operate stably and meet the multi-motor coordinated control objectives in the presence of parameter perturbation and load disturbance.(4)In order to better solve the common problem of multi-motor coordinated control in engineering,an experimental platform of multi-motor coordinated control system is designed.In the design process,the structure design and software design are mainly completed,and the effectiveness of the proposed algorithm is verified by experimental analysis.Finally,the work of the full text is summarized,and the direction of the next research is pointed out.