Multi-motor Synchronization Control Method Based On Artificial Potential Field And Its Applications

More and more attention has been paid to the study on multi-motor synchronization control in recent years. In the mean time, multi-motor synchronization control has been widely applied in industrial production. It solves many practical problems in engineering and also produces great economic benefits. However, the multi-motor synchronization system is a non-linear model with multiple variables. Thus higher requirements are put forward on control strategy of the system. As an intelligent algorithm simulating natural living creatures, flocking control theory has the outstanding features of good stability, strong fault tolerance and etc. The good synchronization performance it shows in multi-agent motion control deserves our attention. Relatively systematic and in-depth study is carried out in this paper based on theoretical analysis, algorithm design and test simulation around seeking of a new multi-motor synchronization strategy and improving of synchronization and robustness of the system.The main contents studied in this paper are as follows:The method adopted for multi-motor synchronization control and current problems are analyzed after widely review of domestic and international information about current situation of theoretical study on multi-motor synchronization control theory. The application condition of artificial potential field in study on multi-agent control is summarized in consideration that flocking control can produce relatively good overall synchronization effect. It points out that artificial potential field method is an effective way for solving multi-motor synchronization control in flocking control.Gravitational field, repulsion field and force field of a motor are provided and a conventional motor artificial potential field controller is designed aiming at multi-motor synchronization control issue. It makes the slave motors maintain synchronous operation utilizing the force of attraction and repulsion of the master motor to the slave motors in this control algorithm. It studies on the design of multi-motor synchronization control from a new thinking way and realizes combination of flocking control and multi-motor synchronization control.The method of artificial potential field multi-motor synchronization control is put forward based on the fact that the conventional motor artificial potential field controller cannot satisfy multi-motor real-time synchronous operation resulted from load disturbance. It can increase the attraction force between adjacent slave motors so that there is direct relation with individual slave motor. The asynchronous time caused by load disturbance can be weakened effectively by this algorithm.Multi-motor flock topology is provided and interaction function in directed graph is introduced aiming at improving of multi-motor robust synchronization issue. The artificial potential field and sliding mode variable structure combination oriented multi-motor synchronous controller is designed based on the feature that sliding mode variable structure has strong robustness irrelevant to parameter perturbation and external disturbance of the system. Lyapunov function is used to demonstrate the stability of the controller. The multi motors can still operate synchronously when parameters change of the motors are assured.