Research On Multi-motor Speed Synchronous Control System Of Slipform Construction Platform For Barrel-type Structures

Barrel-type structures are very common in industry and daily life,and they play a very significant role in the manufacturing and living of human society.This kind of structure needs to use the construction platform during the construction process,while the traditional barrel-type structures platform construction often faces many problems,such as the rising speed of the construction platform is slow,the rise and fall of the platform are not synchronized,and complex construction projects.Therefore,this thesis designs a green slipform construction platform,which is mainly composed of six systems: construction platform system,support system,planking system,lifting system,safety braking system and condition monitoring system.The designed green slipform construction platform has a simple structure and high reuse rate of materials and components,which can effectively solve the problems of low productivity and waste of steel of traditional slipform construction platform.It can enhance construction reliability,shorten the construction period,and has lower construction costs.Multi-motor control system,as the core link in the lifting process of the construction platform for new barrel-type structures,is also the focus of this thesis.Aiming at the high requirements of the construction platform for multi-motor control.Based on the theory of vector control,the controller of neural network PID and the structure of mean-coupled synchronization control,this thesis studies the velocity synchronization control of multiple permanent magnet synchronous motors(PMSM).An improved RBF-PID controller is designed.First,an improved variable-speed integral term is introduced into the integral part of the incremental PID algorithm to quickly eliminate the steady-state error of the system.Then,an RBF(radial basis function)neural network is introduced to online identify the permanent magnet synchronous motor,and the gradient descent algorithm is used to obtain the adjustment amount of the three parameters of the PID to give the PID controller adaptive tuning capabilities.Finally,the designed controller is combined with a mean-coupled control structure to achieve speed synchronization control for multiple motors.A simulation model of the entire system is established in simulation platform to verify the tracking and synchronization performance of the control system under different conditions.The results show that the multi-motor control method designed in this thesis has better responsiveness and immunity to interference than traditional methods,with better control effects.Specifically,when the motor is started with no load,the adjustment time is shortened by about 33%.When there is load disturbance,the maximum tracking error is reduced by about 42%,the maximum synchronization error between motors is reduced by about 21%,and the adjustment time for synchronization error is shortened by about 71%.