Research On The Technical Of Dual-Module Cross-Coupling Synchronous Control Based On CANopen

With the development of the photovoltaic industry,the demand for photovoltaic glass is greater,the production line efficiency is higher,and the processing technology is more stringent.Transmission,as an essential link in the production line of photovoltaic glass,is often regarded as an important link to improve production capacity.Under the multiple constraints of increasingly stringent production efficiency and special process requirements,the transmission method driven by a single motor can no longer meet the needs of the production line.Correspondingly,a multi-motor high-speed synchronous transmission solution is proposed,whose synchronization accuracy also directly affects the quality and efficiency of processing.Therefore,it is of great significance to study the synchronous control technology scheme of multiple motors.Based on the school-enterprise cooperation project "Large Format Photovoltaic Glass Intelligent Laser Perforating Equipment Development",this paper carries out the research on the dual-motor synchronous control technology scheme based on CANopen fieldbus.According to the problem of unsynchronization of transmission modules in the industrial field,for the three types of hardware,and from top to bottom,aiming at the host computer,the lower computer CANopen module,the servo drive,from command sending synchronization,action execution synchronization,and real-time adjustment of the motion process to research and design the dual-motor synchronization strategy.Firstly,the main synchronous control strategy and algorithm of double motors are studied,and the synchronous control strategy and algorithm are selected for the transmission module of the equipment.Secondly,the production process,equipment function and dual module synchronous transmission requirements under actual working conditions are described.Based on the equipment system configuration and actual working conditions,the solution is proposed,including the introduction of fuzzy controller on the upper computer,optimization of CANopen communication mechanism and parameters on the lower computer,cross-coupling of the motor and flexible start-stop,etc.Then,CANopen protocol is studied,including master and slave nodes,object dictionary and communication objects.According to the actual working conditions,the transmission mechanism of each node and parameters such as forbid time,synchronization period and synchronization count times are selected and optimized to realize the synchronization optimization in the communication stage of the two motors.Then,the traditional PID,incremental PID and fuzzy control algorithms are studied.Combining crosscoupling control information coupling characteristics,the characteristics of the PID algorithm is easy to implement,the characteristics of the fuzzy control does not need accurate mathematics model,design a set of position loop gain and current loop compensator gain fuzzy controller,and the formation of fuzzy self-tuning based on cross coupling synchronization control scheme,implementation double synchronous optimization in the process of motor sport.Finally,a Simulink simulation model is established to compare traditional parallel and master-slave control schemes.The results show that: when there is a load difference between the two motors,the proposed solution can obtain better synchronization and dynamic characteristics.The actual synchronization error of the equipment transmission module is controlled within 2mm at a speed of 1.5m/s and an acceleration of 10 m/s~2.