Research On Synchronization Control Of Dual Motors For Servo Forging Platform

With the continuous progress of industrial automation level,servo motors have been widely used in the forging manufacturing industry,making it possible to more refined processing path curves.In order to further improve production efficiency and increase the power of the forging platform,it has become a trend to use dual servo motors or even multiple servo motors as the power source at the same time.In order to ensure high-precision processing quality and prolong the service life of the platform,this article has carried out research work on the synchronous control method of dual servo motors for the forging platform.Firstly,the mathematical model of permanent magnet synchronous motor is obtained based on coordinate transformation method.The position control system is designed by using the theory of automatic control.The bandwidth of three loops is allocated reasonably according to the actual demand.At the same time,to obtain precise speed information,the phase locked loop and its filter are redesigned,and the bandwidth matching with the speed loop is realized and the stable and accurate speed information is obtained.To reduce tracking error caused by load disturbance,based on the iterative learning control(ILC)method,the parallel-type single-motor speed and position tracking control systems are designed respectively.The error convergence speed expression is derived from the system transfer function,which accurately describes the error convergence speed,and the PI-type ILC law is adopted to achieve the goal of obtaining a faster error convergence speed.Aiming at the instability problems that may exist in the physical system,the forgetting factor is introduced to enhance robustness.For the problem of dual-motor synchronous control,based on the simulation and comparison of typical synchronous control structures,cross-coupling control is selected as the basic control structure,and the dual-motor control of integrated ILC tracking control and crosscoupled iterative learning synchronous control method is furtherly designed.The expression of the convergence speed of the synchronization error is derived,and the decoupling design of the convergence speed of the tracking error and the synchronization error is realized,and the convergence speed of the error is effectively improved on the basis of ensuring the stability of the system.Finally,a prototype of a simulated servo forging platform was built,and the proposed control algorithms were verified one by one through experiments,which proved rationality and effectiveness of the methods proposed in this paper.