Research On The Dual Motor Synchronous Control System Of The Automatic Feeding Device For Large-radius Steel Bar Of Metro Segments

With the acceleration of urban development,more and more countries begin to pay attention to the construction of subway lines,and the demand for subway segments is also rising.However,at present,the subway segments are still manufactured manually,and the production efficiency and quality cannot be guaranteed.Therefore,it is extremely urgent to develop a new type of intelligent production equipment for subway segment.In this paper,a multi-motor coordinated drive automatic feeding device is designed according to the transmission requirements for large radian steel bar of subway segment.Among them,the double motor synchronous control system in the direction of X axis and the double motor synchronous control system in the direction of Z axis are the core of the automatic feeding device.Therefore,it is significant to study the double motor synchronous control system of the automatic feeding device.The specific research contents are as follows:The permanent magnet synchronous motor position control simulation model and the dual motor synchronous control system simulation model are built and the simulation research is carried out.Aiming at the requirement of high precision and high synchronicity of the dual motor synchronous control system,the PID control algorithm is used to study the position response characteristics of the single motor at first.At the same time,the cross-coupling control method is used to study the dual motor synchronous control system.However,the adaptive adjustment ability of PID controller parameters is weak.For a complex control system such as permanent magnet synchronous motor,which is multivariable and strongly coupled,adaptive adjustment cannot be made according to the change of working environment.Therefore,this paper combines the fuzzy control with PID control to design the fuzzy PID controller,which improves the PID controller’s parameter adaptive adjustment ability.The PID controller based on BP neural network is designed and improved.Although the fuzzy control algorithm improves the parameter adjustment ability of PID controller,the fuzzy control algorithm relies very much on the experience of experts,and the adjustment ability is limited.Therefore,this article introduces the BP neural network algorithm,which has strong self-learning ability and fault tolerance ability,and in view of the fact that traditional neural network weights adjustment falls into local minima and learning rate is not easy to determine,the momentum item is introduced and learning rate is improved,which further improves the PID controller parameter adaptive adjustment ability.The position compensator in the traditional cross-coupling control structure is optimized.Aiming at the problem that the correction speed of the position compensator is not fast enough and the correction is not sensitive enough in the dual-motor synchronous control system,which uses the traditional cross-coupling control mode.A position compensator based on the improved BP neural network PID control is designed,which improves the adjustment speed and correction ability of the position compensator.The hardware circuit and software program of the dual motor synchronous control system are designed.In the hardware system,the control circuit,the drive circuit,the signal detection circuit and other main work modules are designed.At the same time,the software of the control system is designed,and the upper computer software with data acquisition function is written by Lab View,which lays a foundation for the selection and design of the control scheme of the automatic feeding device.