Research On High Performance Cooperative Control Method Of Filling Multi-Motor System Based On Sliding Mode Variable Structure

Intelligent equipment for thick sauce and viscous food has now become a key development direction in my country's modern grain,oil and food processing and manufacturing equipment,which requires the stable operation of the filling servo system to meet more high-performance technical indicators.The multimachine collaborative control method for filling is an important research part of the filling equipment for thick sauce and viscous food.Therefore,the multimotor synchronous control strategy is widely used in the multi-machine coordinated control of the filling servo system due to its high topological structure flexibility,strong coupling mode flexibility and wide selection of control methods.However,because thick sauce and viscous food have their particularity in the actual filling process,some new requirements are put forward for the synchronization topology and control algorithm.In this context,this article will combine the multi-motor synchronous control strategy and sliding mode variable structure control technology to design a more targeted control structure and a better performance controller.The specific research content is as follows:1.Aiming at the problem of poor synchronization performance of the multimotor system caused by the complex working conditions of the sudden change of the motor load torque at the stop-start time of the filling motor,a deviation coupling synchronization control strategy with a switching system structure is proposed.The system has been optimized to make the model more in line with the actual engineering background.An equivalent sliding mode controller is designed to adjust the system error by feedback,and the public Lyapunov function is selected to ensure the asymptotic stability of the switching system.Finally,the authenticity of the proposed method is verified through the Matlab/Simulink simulation platform.2.In response to the high-speed and high-precision collaborative control requirements of multi-motor systems for filling,a multi-motor fixed-time optimized collaborative control method based on an improved virtual main shaft is proposed.The coupling of each motor is established by adding a speed compensator module;a disturbance observer is used to estimate and feedback the composite disturbance composed of motor parameter perturbation and load disturbance;a variable gain terminal sliding mode controller based on fixed time convergence is designed,and Lyapu is applied Nov's stability theory proves that the system can move from any initial state to the sliding surface in a fixed time,thereby ensuring the rapid convergence of the entire system.The simulation results show that compared with the traditional virtual main shaft control structure,this method has a more significant control effect on the system error of each motor.