| With the continuous development of domestic and foreign animal husbandry industry,the utilization rate of electric equipment is also increasing.During the feeding process of mutton sheep,electric spreaders are often used to feed mutton sheep.In the process of large-scale application of electric spreaders,many new problems have arisen.Among the many new problems,the coordinated control of multiple motors in the drive system of the electric spreader has attracted the attention of scholars.When multiple motors exist in the electric spreaders system and their rotational speeds do not match each other,it will cause problems such as uneven spreading and uncontrollable spreading amount,which will affect the growth and health of mutton sheep,and ultimately affect the development of animal husbandry.In this paper,on the basis of understanding the research status of multi-motor coordinated control of electric spreader at home and abroad,through on-the-spot inspection of the sheep house,on the basis of fully understanding the multi-motor operation process of the electric spreader drive system during the feeding process of mutton sheep,the simulation A model of the coordinated operation of multiple motors of an electric spreader is established in the software.Aiming at the problems of low reliability and high maintenance cost in the multi-DC motor coordinated control system in the existing electric spreader.In this paper,a multi-AC motor coordinated control system based on permanent magnet synchronous motor(Permanent Magnet Synchronous Machine,PMSM)is designed.Finally,the practicability of the designed system is verified by experiment.Based on the MATLAB/simulink platform,this paper conducts modeling and simulation research on the multi-motor coordinated control system of the electric spreader.Studies have shown that the existing electric spreader has multiple motors in the drive system that are independent of each other,so that the motor system of the entire spreader cannot operate in coordination,resulting in the problem of uneven spreading.In addition,due to the continuous reduction of feed on the electric spreader,the load status of multiple motors is constantly changing during the operation of the system.The fluctuation of load torque will affect the speed,so it will also bring about the problem of multi-motor speed mismatch..In this paper,aiming at the problem of uneven distribution of electric spreader caused by the inability to coordinate control of the multi-DC motor system,a multi-motor coordinated control system based on permanent magnet synchronous motor(PMSM)is designed to replace the multi-DC motor system.For the problem of permanent magnet synchronous motor load disturbance,this paper proposes an anti-disturbance control strategy for permanent magnet synchronous motor(PMSM)based on extended state observer(Extended State Observe,ESO)and PI controller,draws the control schematic diagram,and uses MATLAB/simulink In the simulation software,the simulation experiment and conclusion analysis of the control method designed in this paper are carried out.In order to solve the problem of multi-motor coordination control,this paper designs an improved deviation coupling control structure based on the deviation coupling control and master-slave control,and designs the speed compensator according to the multi-motor coordination proportion relationship.Finally,the control structure designed in this paper is simulated and analyzed in MATLAB/ Simulink simulation software.At the end of the paper in the rapid control prototyping(Rapid Control Prototype,RCP)and the hardware in the loop(Hardware In Loop,HIL)test platform for the validation check is made in this paper,the control structure and method of analysis,verified the proposed control strategy can effectively restrain the load disturbance for system,the influence of the designed motor coordination control structure can guarantee the stability of motor proportionally more harmoniously. |
