Multi-motor Synchronous Linkage Control System Design And Analysis

In this paper, a high performance digital servo-system driven by 4-motors is studied. Above all, the general design of the system' s electric part and mechanical part is introduced.Meanwhile, for the purpose of driving the big-inertia load, four motors are used and error of the velocity is fed back to synchronize the pace of the motors. Still, a kind of bias-voltage control and some compensation methods are applied to change the non-linear system with anti-backlash and dead-zone into an approximate linear system in order to attain the high tracking performance.On the foundation of the former work, a improved control method is firstly introduced to overcome some disadvantage of the original design. This method turns the system into a entirety digital control system which has been proved to be effective. Second, system simulation is modified and improved whose result is much closer to the real system. Third, some theory problem is studied and results are attained. Then, a kind of intelligence PID controller is used and experiment results show that the expected performance of the system is satisfied. In addition, as adoption of the four-motor driving mode, a kind of error-tolerance control is made possible, its project programming and software design are introduced.