| High-speed laminating machine is indispensable in the packaging, printing and other industrial field. With the rapid development of industry, Performance requirements of high-speed laminating machine are more and more high in market.Laminating precision is not high for mechanical transmission mode of traditional laminating machine, which affects the production yield. Multi-motor synchronous control technology gradually replace the traditional mechanical transmission with high control precision, simple structure, easy control and other advantages, which is widely used in industry field. In the paper, strategy of multi-motor synchronous control is studied deeply and comprehensively based on the model SDM103 B laminating machine.(1) The background and significance of the research on laminating machine is described. The research status of multi-motor synchronous control technique is introduced in industry field. The research emphasis and difficulty is clarified, and the structural of paper is arranged.(2) The basic principle of laminating machine work is analyzed. Prone to large fitting errors for laminating machine style of mechanical transmission, the overall system structure and scheme of multi-motor synchronous control is designed for high-speed laminating machine. The PMSM mathematical model is analyzed. The multi-motor synchronous control system model is established.(3) Because laminating machine multi-motor control system is a complex control system with nonlinear, time-varying, strong coupling, the multi-motor synchronous control structure is studied. It put forward an improved coupling speed deviation error compensation for multi-motor synchronization control structure. A single-neuron PI compensator is designed for using motor speed error as the index,through the introduction of PSD(Proportional Summation Derivative) algorithm that single neuron PI gain is adjusted in real time online. It improves the convergence speed of the synchronous error of the motor, makes speed error approaches zero between the three motor, enhances the stability of multi-motor synchronous control system. It achieves the purpose of three motors synchronization control. The simulation results show the feasibility and validity of this method.(4) Aiming at the motor speed following poor performance with the traditional PI control strategy in the multi-motor synchronous control system, a speed fuzzy sliding mode controller is designed. The integral sliding surface is defined according to the difference between the reference speed and the output speed, and a scale switching function control law is selected. The stability of the system is proved by using Lyapunov function. In order to weaken the chattering of the sliding mode control system, a fuzzy logic algorithm is used to adjust the switching gain K in the control law in real time. The simulation results show that and the speed following performance of each motor are improved obviously and the synchronization error is reduced through combining with fuzzy and sliding mode control.(5) According to the requirements of the high-speed laminating machine fitting precision and speed, three motor control systems simulation models are established at Matlab7.14, which contain glossy paper motor, bottom paper feed motor and the feeding glue motor in high-speed laminating machine. In the traditional PI control strategies, improved control structure is simulated before and after. In the modified coupling control structure, the three different control strategies are simulated. The simulation results show that high-speed laminating machine system synchronization error between the motors decrease, the fit precision and the fit average speed is greatly improved through combination of the improved bias control structure coupled and the fuzzy sliding mode control strategy combination of scheme. |
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